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Stock-Based Compensation - (Details)
$ in Millions
1 Months Ended 3 Months Ended
Feb. 01, 2020
shares
Feb. 29, 2016
shares
Dec. 31, 2015
Mar. 31, 2020
USD ($)
employee
item
shares
May 31, 2019
shares
2015 Equity Incentive Plan          
Stock-based compensation          
Expiration period     10 years    
Shares available for grant       17,261,319  
Automatic annual increase in shares authorized, percent of common stock outstanding       3.50%  
1997 Stock Option Plan          
Stock-based compensation          
Options vested and expected to vest       3,515,817  
Inducement Plan          
Stock-based compensation          
Total shares that may be issued         1,800,000
Shares available for grant       1,229,132  
2016 Employee Stock Purchase Plan          
Stock-based compensation          
Shares available for grant   800,000   6,341,661  
Share increase (as a percent)   1.00%      
Payroll deductions for ESPP participants (as a percent)       15.00%  
Percentage on share price issued       85.00%  
Offering period duration       6 months  
Purchase periods | item       2  
Participates rolled over | employee       40  
Stock issued 566,573        
ESPP incremental cost | $       $ 0.1