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Stock-Based Compensation - Schedule of Outstanding and Exercisable Options (Details)
3 Months Ended
Mar. 31, 2020
$ / shares
shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Stock options outstanding (in shares) | shares 8,081,381
Weighted average exercise price (in dollars per share) $ 2.23
Weighted average remaining contractual life 7 years 6 months 25 days
Stock options exercisable (in shares) | shares 3,562,724
Weighted average exercise price (in dollars per share) $ 4.06
$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 3,228,583
Weighted average exercise price (in dollars per share) $ 0.42
Weighted average remaining contractual life 9 years 10 months 6 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 1,745,369
Weighted average exercise price (in dollars per share) $ 1.03
Weighted average remaining contractual life 4 years 3 months 21 days
Stock options exercisable (in shares) | shares 1,370,748
Weighted average exercise price (in dollars per share) $ 1.06
$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 1,835,130
Weighted average exercise price (in dollars per share) $ 2.30
Weighted average remaining contractual life 7 years 11 months 26 days
Stock options exercisable (in shares) | shares 934,052
Weighted average exercise price (in dollars per share) $ 2.56
$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 1,272,299
Weighted average exercise price (in dollars per share) $ 7.69
Weighted average remaining contractual life 5 years 11 months 23 days
Stock options exercisable (in shares) | shares 1,257,924
Weighted average exercise price (in dollars per share) $ 8.45