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Stockholders' Equity - Schedule of Estimate Fair Value of Stock Options Granted (Details)
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Equity Incentive Plans    
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]    
Expected term (in years) 6 years 7 days 6 years 10 days
Expected volatility 74.00% 82.00%
Risk-free interest 1.45% 2.57%
Dividend yield 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 5 months 26 days
Expected volatility 53.00% 66.00%
Risk-free interest 1.49% 2.55%
Dividend yield 0.00% 0.00%