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Leases - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Lessee, Lease, Description [Line Items]      
Short-term lease cost $ 851    
Rent expense   $ 1,600 $ 1,800
Emeryville, California lease      
Lessee, Lease, Description [Line Items]      
Additional renewal term 5 years    
Short-term lease terminated in March 2019      
Lessee, Lease, Description [Line Items]      
Short-term lease cost $ 200