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Stockholders' Equity - Schedule of Estimate Fair Value of Stock Options Granted (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Equity Incentive Plans        
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]        
Expected term (in years) 6 years 29 days 6 years 5 years 11 months 26 days 5 years 11 months 15 days
Expected volatility 80.00% 84.00% 81.00% 85.00%
Risk-free interest 1.63% 2.80% 2.47% 2.75%
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) 6 months 6 months 6 months 5 months 26 days
Expected volatility 74.00% 63.00% 70.00% 66.00%
Risk-free interest 1.71% 2.45% 2.12% 2.20%
Dividend yield 0.00% 0.00% 0.00% 0.00%