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Stock-Based Compensation - Schedule of Outstanding and Exercisable Options (Details)
9 Months Ended
Sep. 30, 2019
$ / shares
shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Stock options outstanding (in shares) | shares 5,725,141
Weighted average exercise price (in dollars per share) $ 3.55
Weighted average remaining contractual life 6 years 10 months 13 days
Stock options exercisable (in shares) | shares 3,291,600
Weighted average exercise price (in dollars per share) $ 4.77
$0.00 - $0.78  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices (in dollars per share) 0
Range of exercise prices (in dollars per share) $ 0.78
Stock options outstanding (in shares) | shares 163,905
Weighted average exercise price (in dollars per share) $ 0.66
Weighted average remaining contractual life 9 years 9 months 10 days
$0.79 - $1.50  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices (in dollars per share) $ 0.79
Range of exercise prices (in dollars per share) $ 1.50
Stock options outstanding (in shares) | shares 1,712,347
Weighted average exercise price (in dollars per share) $ 1.03
Weighted average remaining contractual life 4 years 6 months 21 days
Stock options exercisable (in shares) | shares 1,257,500
Weighted average exercise price (in dollars per share) $ 1.03
$1.51 - $5.50  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices (in dollars per share) 1.51
Range of exercise prices (in dollars per share) $ 5.50
Stock options outstanding (in shares) | shares 2,197,871
Weighted average exercise price (in dollars per share) $ 2.22
Weighted average remaining contractual life 8 years 7 months 9 days
Stock options exercisable (in shares) | shares 470,250
Weighted average exercise price (in dollars per share) $ 3.17
$5.51 - $10.67  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices (in dollars per share) 5.51
Range of exercise prices (in dollars per share) $ 10.67
Stock options outstanding (in shares) | shares 1,651,018
Weighted average exercise price (in dollars per share) $ 8.21
Weighted average remaining contractual life 6 years 7 months 20 days
Stock options exercisable (in shares) | shares 1,563,850
Weighted average exercise price (in dollars per share) $ 8.26