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Stock Option Plans - Schedule of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Mar. 31, 2019
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]            
Beginning balance, available for grant (in shares) 1,550,628 1,648,038   1,648,038 1,589,381  
Beginning balance, options outstanding (in shares) 2,473,130 2,377,180   2,377,180 2,435,837  
Options granted       209,908 46,005  
Options exercised (in shares) (3,346)     (1,392)    
Options cancelled (in shares) (11,693)   (5,635) (112,498) (104,662)  
Ending balance, available for grant (in shares) 2,591,909 1,653,674 1,653,674 1,550,628 1,648,038 1,589,381
Ending balance, Options outstanding (in shares) 2,458,091 2,371,545 2,371,545 2,473,130 2,377,180 2,435,837
Exercisable at period end (in shares) 2,160,101 1,834,360 1,834,360 2,079,809    
Weighted Average Exercise Price per Share            
Beginning of period (in usd per share) $ 4.67 $ 4.79   $ 4.79 $ 4.80  
Options granted (in shares)       3.14 4.34  
Options exercised (in dollars per share) 3.76     3.86    
Options cancelled (in usd per share) 4.37   $ 5.29 4.34 4.70  
End of period (in usd per share) 4.74 4.85 4.85 4.67 $ 4.79 $ 4.80
Exercisable at end of period (in usd per share) $ 4.86 $ 5.00 $ 5.00 $ 4.95    
Weighted Average Remaining Contractual Term (in Years)            
Options outstanding, weighted average remaining contractual term (in years) 6 years 6 months 29 days 7 years 2 months 23 days   6 years 10 months 2 days 7 years 5 months 15 days 8 years 4 months 17 days
Options exercisable, weighted average remaining contractual term (in years) 6 years 5 months 8 days 7 years 1 month 2 days   6 years 7 months 24 days    
Aggregate Intrinsic Value            
Options outstanding, aggregate intrinsic value $ 0 $ 0 $ 0 $ 0 $ 0 $ 0
Options exercisable, aggregate intrinsic value $ 0 $ 0 $ 0 $ 0    
Previously Reported            
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]            
Beginning balance, options outstanding (in shares) 2,473,198          
Ending balance, Options outstanding (in shares)       2,473,198    
Stock options            
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]            
Options authorized (in shares) 1,029,588