Employee stock purchase plan offering period.

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Employees maximum annual compensation amount.

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Employees maximum annual compensation percentage.

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Share-based compensation arrangement by share-based payment award, eligible payroll cost for award.

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Share-based compensation arrangement by share-based payment award, employee subscription rate.

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Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Award to be Deductible

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Share-based Compensation Arrangement by Share-based Payment Award, Exercise Price Minimum Percentage of Market Price, Grant Date

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The number of warrants or rights which entitle the entity to receive future services in exchange for the unvested, forfeitable warrants or rights.

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Aggregate number of common shares reserved for future issuance.

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Amount of expense for salary, wage, profit sharing; incentive and equity-based compensation; and other employee benefit. Other employee benefit expense includes, but is not limited to, service component of net periodic benefit cost for defined benefit plan. Excludes compensation cost in cost of good and service sold.

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Aggregate carrying value as of the balance sheet date of the liabilities for stock option plans and other equity-based compensation arrangements.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Amount of noncash expense for share-based payment arrangement.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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Date the equity-based award expires, in CCYY-MM-DD format.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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The highest quantity of shares an employee can purchase under the plan per period.

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Number of shares authorized for issuance under share-based payment arrangement.

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Price of a single share of a number of saleable stocks of a company.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Purchase price of common stock expressed as a percentage of its fair value.

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Number of shares issued during the period as a result of an employee stock purchase plan.

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Number of new stock issued during the period.

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Stock Benefit Plans and Stock-Based Compensation - Additional Information (Details) - USD ($)			1 Months Ended	3 Months Ended	12 Months Ended
	Apr. 05, 2020	May 31, 2017	Jul. 31, 2019	Sep. 30, 2016	Dec. 31, 2020	Dec. 31, 2019	Jun. 17, 2020	Apr. 08, 2020	Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for future issuance					50,433,000
Stock compensation charge					$ 900,000
Stock-based compensation					$ 17,659,000	$ 10,956,000
Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock issued					13,143,000	12,535,000
Employee Stock Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for future issuance					3,951,000
Weighted-average grant-date fair value of stock options granted					$ 4.71	$ 1.92
Share price					$ 14.52
Unrecognized compensation expense for stock options and awards expected to be recognized					$ 2,200,000
Straight-line basis over a weighted average period					1 year 6 months 25 days
Unvested Restricted Stock Award
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for future issuance					8,216,000
Restricted shares granted under the plan					3,964,000
Straight-line basis over a weighted average period					1 year 11 months 26 days
Weighted average fair value of awards granted					$ 4.87	$ 1.92
Unrecognized compensation expense for restricted stock and awards expected to be recognized					$ 22,100,000
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for future issuance					216,131
Stock-based compensation					$ 1,000,000.0	$ 700,000
Employee stock purchase plan, maximum annual compensation percentage		20.00%
Employee stock purchase plan, maximum annual compensation amount		$ 21,250
Purchase price equal to the lower of the fair market value per share (at closing) of Company common stock		85.00%
Employee stock purchase plan, offering period		6 months
Shares of common stock purchased under the ESPP					379,166	359,689
2016 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for future issuance				1,083,333
Number of shares available for grant					4,161,838		7,000,000
2016 Equity Incentive Plan \| Employee Stock Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expiration period				10 years
Award vesting period				4 years
Exercise price minimum percentage of market price on grant date				100.00%
2016 Equity Incentive Plan \| Employee Stock Option \| 10 Percent Stockholder
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expiration period				5 years
Exercise price minimum percentage of market price on grant date				110.00%
Salary-to-Equity Conversion Program
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting date	Jul. 10, 2020
Deferred compensation liability					$ 900,000
Salary-to-Equity Conversion Program \| Minimum [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Eligible employee payroll cost for conversion program	$ 100,000
Employee voluntary election to reduce compensation rate	10.00%
Salary-to-Equity Conversion Program \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Employee voluntary election to reduce compensation rate	75.00%
Inducement Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for future issuance					692,392
Maximum award to be deductible other than options					$ 1,000,000.0
2019 Management Objective Strategic Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation					$ 200,000
2019 Management Objective Strategic Incentive Plan \| Board of Directors Chairman \| Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share authorized grant of warrants			500,000
Maximum grant of shares per participant			50,000
2019 Management Objective Strategic Incentive Plan \| Unvested Restricted Stock Award
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Maximum grant of shares per participant					25,000
Restricted shares granted under the plan					130,000
2017 Distributor Inducement Plan \| Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation					$ 500,000	$ 400,000
Common stock issued					220,000
Number of warrants available to be granted					525,000
2017 Distributor Inducement Plan \| Board of Directors Chairman \| Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share authorized grant of warrants									1,000,000
2017 Distributor Inducement Plan \| Restricted Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted shares granted under the plan					284,500
Two Thousand Seventeen Development Services Plan \| Board of Directors Chairman \| Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares available for grant								7,000,000
Common stock issued					0
Two Thousand Seventeen Development Services Plan \| Restricted Common Stock \| Board of Directors Chairman
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares available for grant					5,769,000
Restricted shares granted under the plan					3,190,000