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Income Taxes - Rate reconciliation (Details)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Effective Income Tax Rate Reconciliation, Percent [Abstract]      
Federal tax benefit at statutory rate 21.00% 21.00% 34.00%
State tax benefit net of federal effect 6.00% 6.30% 8.80%
Foreign taxes (2.90%) (1.70%) (0.70%)
Change in valuation allowance (29.00%) (29.80%) 42.80%
Change in federal tax rate     (86.10%)
Compensation limitation 162(m) (1.50%)    
Credits 4.60% 3.70% 3.40%
Stock-based compensation (1.60%) (2.30%) (3.90%)
Non-deductible expenses and other (1.20%) (0.40%) (0.40%)
Effective tax rate (4.60%) (3.20%) (2.10%)