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Stockholders' Equity (Details) - shares
Sep. 30, 2019
Dec. 31, 2018
Common Stock    
Options issued and outstanding (in shares) 5,988,598 6,235,258
Total number of shares reserved for issuance (in shares) 8,117,090 8,116,335
Shares of common stock subject to outstanding options (in shares)    
Common Stock    
Shares available for issuance (in shares) 1,955,324 1,571,658
ESPP (in shares)    
Common Stock    
Shares available for issuance (in shares) 173,168 309,419