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Stockholders' Equity - Schedule of Estimate Fair Value of Stock Options Granted (Details)
3 Months Ended 6 Months Ended
Jun. 30, 2019
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Equity Incentive Plans        
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]        
Expected term (in years) 5 years 8 months 12 days 5 years 8 months 12 days 5 years 11 months 26 days 5 years 11 months 12 days
Expected volatility 78.00% 84.00% 81.00% 85.00%
Risk-free interest 2.05% 2.79% 2.50% 2.73%
Dividend yield 0.00% 0.00% 0.00% 0.00%
2016 Employee Stock Purchase Plan        
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]        
Expected term (in years) 0 years 0 years 5 months 26 days 5 months 26 days
Expected volatility     66.00% 69.00%
Risk-free interest     2.55% 2.00%
Dividend yield     0.00% 0.00%