Income Taxes - Schedule of Tax Effects of Temporary Differences and Carryforwards that Give Rise to Significant Portions of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Deferred tax assets and liabilities
Net operating loss carryforwards	$ 99,759	$ 80,382
Research and development credits	3,626	3,494
Lease liabilities	1,902
Accruals and reserves	9,636	8,896
Intangibles	5,330	4,599
Gross deferred tax assets	120,253	97,371
Less valuation allowance	(115,307)	(93,904)
Total deferred tax assets	4,946	3,467
Depreciation	(40)	(15)
Right-of-use assets	(1,854)
Intangibles - deferred tax liability	(3,102)	(3,484)
Total deferred tax liabilities	(4,996)	(3,499)
Net deferred taxes	$ (50)	$ (32)