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Research and Development Licenses (Details) - USD ($)
12 Months Ended
Jun. 27, 2012
Dec. 31, 2018
Dec. 31, 2017
Research And Development Licenses [Line Items]      
Research and development expense   $ 23,045,000 $ 25,212,000
General and administrative expense   11,507,000 13,113,000
Licensing Agreements      
Research And Development Licenses [Line Items]      
Research and development expense   20,000 250,000
General and administrative expense   74,000 $ 58,000
Accrual for future payments   $ 0  
UNC License Agreement      
Research And Development Licenses [Line Items]      
License agreement payment in regulatory and commercial milestones (up to) $ 425,000