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Stock-Based Compensation - Granted to non-employees, prior to the adoption of ASU 2018-07 (Details) - Non-employees - $ / shares
12 Months Ended
Jan. 01, 2018
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Fair value of stock awards granted prior to the adoption of ASU 2018-07        
Risk-free interest rate 2.30% 2.07% 2.71% 2.05%
Expected volatility 74.00% 76.90% 74.00% 75.60%
Expected term (in years) 6 years 1 month 6 days 6 years 22 days 6 years 2 months 16 days 6 years 4 months 21 days
ASU 2018-07 | Minimum        
Fair value of stock awards granted prior to the adoption of ASU 2018-07        
Risk-free interest rate       2.02%
Expected volatility       74.00%
Expected term (in years)       6 years
Fair value of common stock       $ 0.19
ASU 2018-07 | Maximum        
Fair value of stock awards granted prior to the adoption of ASU 2018-07        
Risk-free interest rate       2.31%
Expected volatility       85.00%
Expected term (in years)       10 years
Fair value of common stock       $ 6.28