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Net Loss Per Common Share (Details) - shares
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share    
Total common stock equivalents (in shares) 5,716,509 6,235,250
Shares of common stock subject to outstanding options    
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share    
Total common stock equivalents (in shares) 4,760,128 5,670,819
Employee stock purchase plan    
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share    
Total common stock equivalents (in shares) 19,857 25,672
Restricted stock units    
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share    
Total common stock equivalents (in shares) 936,524 538,759