Restructuring Charges (Details)	1 Months Ended	3 Months Ended										6 Months Ended	9 Months Ended	12 Months Ended			18 Months Ended
	Feb. 28, 2018 employee	Dec. 31, 2019 USD ($)	Sep. 30, 2019 USD ($)	Jun. 30, 2019 USD ($)	Mar. 31, 2019 USD ($)	Dec. 31, 2018 USD ($)	Sep. 30, 2018 USD ($)	Jun. 30, 2018 USD ($)	Mar. 31, 2018 USD ($)	Dec. 31, 2017 USD ($)	Mar. 31, 2017 USD ($)	Dec. 31, 2019 USD ($)	Dec. 31, 2018 USD ($)	Dec. 31, 2019 USD ($) ft²	Dec. 31, 2018 USD ($)	Dec. 31, 2017 USD ($)	Jun. 30, 2020 USD ($)
Restructuring
Severance costs, charges incurred													$ 2,300,000
Restructuring charge
Balance at beginning of the period					$ 841,000									$ 841,000			$ 841,000
Restructuring charge		$ 512,000	$ 1,020,000	$ 19,342,000	$ 559,000	$ 406,000	$ 870,000	$ 686,000	$ 1,731,000	$ 393,000	$ 386,000			21,433,000	$ 3,693,000	$ 779,000
Payments during the period														(841,000)
Balance at end of the period						$ 841,000							$ 841,000		$ 841,000
Operating Lease, Impairment Loss														694,000
Workforce reduction
Restructuring charge
Balance at beginning of the period			$ 16,030									$ 16,030
Additional charges/adjustments during the period												(663)		15,400,000
Payments during the period												(11,280)
Balance at end of the period		$ 4,087		16,030								$ 4,087		$ 4,087
Workforce reduction | 2019 Corporate Restructuring
Restructuring
One-time charge for severance				16,000,000.0
Workforce reduction | 2018 Manufacturing Restructuring
Restructuring
Number of employees eliminated due to new operating model | employee	22
Workforce reduction | 2018 Manufacturing Restructuring | Stock options
Restructuring
Severance costs, charges incurred									157,000
Workforce reduction | 2016 Corporate Restructuring
Restructuring charge
Unoccupied office space for sub-lease | ft²														10,281
Lease | 2016 Corporate Restructuring
Restructuring charge
Leasehold impairment charge														$ 559,000		$ 779,000
Operating Lease, Impairment Loss														559,000
One-time charge | 2018 Manufacturing Restructuring
Restructuring
Severance costs, charges incurred									$ 1,200,000
Incremental retention benefits | 2019 Corporate Restructuring
Restructuring
Severance costs, charges incurred														2,100,000
Incremental retention benefits | Forecast | 2019 Corporate Restructuring
Restructuring
Severance costs, charges incurred																	$ 4,000,000.0
Winter Street 930 Waltham MA
Restructuring charge
Operating Lease, Impairment Loss														$ 559,000
Winter Street 930 Waltham MA | Lease | 2019 Corporate Restructuring
Restructuring charge
Impairment charge to write down excess equipment to fair value				$ 2,500,000