Income Taxes - Schedule of NOL Carryforwards (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Operating Loss Carryforwards [Line Items]
Federal and state research and development tax credit and other credit carryforwards	$ 88,570	$ 88,200
Domestic country
Operating Loss Carryforwards [Line Items]
NOL carryforwards	87,500	52,500
State and local jurisdiction
Operating Loss Carryforwards [Line Items]
NOL carryforwards	20,500	20,500
Foreign country
Operating Loss Carryforwards [Line Items]
NOL carryforwards	$ 11,600	$ 8,500