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Research and Development Licenses (Details) - USD ($)
3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Jun. 27, 2012
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2018
Sep. 30, 2018
Jun. 30, 2018
Mar. 31, 2018
Jun. 30, 2019
Jun. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Dec. 31, 2019
Dec. 31, 2018
Research And Development Licenses [Line Items]                              
Research and development expense   $ 5,558,000 $ 8,598,000 $ 6,189,000 $ 4,827,000 $ 4,837,000 $ 5,697,000 $ 6,176,000 $ 6,335,000 $ 11,016,000 $ 12,511,000 $ 19,614,000 $ 18,208,000 $ 25,172,000 $ 23,045,000
General and administrative expense   $ 1,817,000 $ 2,290,000 $ 3,311,000 $ 2,994,000 $ 2,712,000 $ 3,295,000 $ 2,620,000 $ 2,880,000 $ 6,305,000 $ 5,500,000 $ 8,595,000 $ 8,795,000 10,412,000 11,507,000
Licensing Agreements                              
Research And Development Licenses [Line Items]                              
Research and development expense                           0 20,000
General and administrative expense                           93,000 $ 74,000
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