Stock-Based Compensation - Schedule of Outstanding and Exercisable Options (Details) - $ / shares	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Options outstanding, number of options (in shares)	5,167,739	4,352,391
Options outstanding, weighted average remaining contractual term	6 years 5 months 8 days	5 years 11 months 8 days
Options outstanding, weighted average exercise price (in dollars per share)	$ 3.34	$ 4.61
Options exercisable, number of options (in shares)	2,997,806	3,238,512
Options exercisable, weighted average exercise price (in dollars per share)	$ 4.49	$ 4.65
$0.00 - $0.78
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Options outstanding, exercise price range, lower range limit (in dollars per share)	0.00
Options outstanding, exercise price range, upper range limit (in dollars per share)	$ 0.78
Options outstanding, number of options (in shares)	195,155
Options outstanding, weighted average remaining contractual term	9 years 6 months 29 days
Options outstanding, weighted average exercise price (in dollars per share)	$ 0.65
Options exercisable, number of options (in shares)	0
Options exercisable, weighted average exercise price (in dollars per share)	$ 0
$0.79 - $1.50
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Options outstanding, exercise price range, lower range limit (in dollars per share)	0.79	0.79
Options outstanding, exercise price range, upper range limit (in dollars per share)	$ 1.50	$ 1.50
Options outstanding, number of options (in shares)	1,781,369	1,510,000
Options outstanding, weighted average remaining contractual term	4 years 6 months 7 days	3 years 1 month 13 days
Options outstanding, weighted average exercise price (in dollars per share)	$ 1.02	$ 1.06
Options exercisable, number of options (in shares)	1,265,000	1,510,000
Options exercisable, weighted average exercise price (in dollars per share)	$ 1.03	$ 1.06
$1.51 - $5.50
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Options outstanding, exercise price range, lower range limit (in dollars per share)	1.51	1.51
Options outstanding, exercise price range, upper range limit (in dollars per share)	$ 5.50	$ 5.50
Options outstanding, number of options (in shares)	1,884,517	992,457
Options outstanding, weighted average remaining contractual term	8 years 3 months	8 years 3 months 7 days
Options outstanding, weighted average exercise price (in dollars per share)	$ 2.27	$ 3.23
Options exercisable, number of options (in shares)	482,288	199,826
Options exercisable, weighted average exercise price (in dollars per share)	$ 3.30	$ 2.76
$5.51 - $10.67
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Options outstanding, exercise price range, lower range limit (in dollars per share)	5.51	5.51
Options outstanding, exercise price range, upper range limit (in dollars per share)	$ 10.67	$ 10.67
Options outstanding, number of options (in shares)	1,306,698	1,849,934
Options outstanding, weighted average remaining contractual term	5 years 11 months 19 days	6 years 11 months 26 days
Options outstanding, weighted average exercise price (in dollars per share)	$ 8.44	$ 8.24
Options exercisable, number of options (in shares)	1,250,518	1,528,686
Options exercisable, weighted average exercise price (in dollars per share)	$ 7.73	$ 8.45