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Stockholders' Equity - Stock Options Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2019
USD ($)
$ / shares
shares
Stock Options, Number of Shares:  
Stock options outstanding, beginning | shares 4,442
Stock options granted | shares 2,925
Stock options exercised | shares (74)
Stock options forfeited | shares (416)
Stock options outstanding, ending | shares 6,877
Stock options vested and expected to vest | shares 6,782
Stock options exercisable | shares 3,199
Stock Options, Weighted-Average Exercise Price Per Share:  
Stock options outstanding, beginning (in dollars per share) $ 7.40
Stock options granted (in dollars per share) 7.97
Stock options exercised (in dollars per share) 5.94
Stock options forfeited (in dollars per share) 7.45
Stock options outstanding, ending (in dollars per share) 7.66
Stock options vested and expected to vest (in dollars per share) 7.66
Stock options exercisable (in dollars per share) $ 7.82
Weighted-average remaining contractual term, stock options outstanding 7 years 4 months 6 days
Weighted-average remaining contractual term, stock options vested and expected to vest 7 years 3 months 23 days
Weighted-average remaining contractual term, stock options exercisable 5 years 3 months 18 days
Aggregate intrinsic value, stock options outstanding | $ $ 5,303
Aggregate intrinsic value, stock options vested and expected to vest | $ 5,235
Aggregate intrinsic value, stock options exercisable | $ $ 3,448
Stock options, intrinsic value per share (in dollars per share) $ 8.00