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Stock Plans and Stock-Based Compensation - 2016 Plan - Additional Information (Details) - shares
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Sep. 15, 2016
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Shares reserved for issuance 3,554,612    
Stock option granted during period 557,896 1,096,881  
2016 Equity Incentive Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Shares reserved for issuance     3,893,118
Automatic increase percentage     3.00%
Shares available for grant (to be issued) 1,111,842 982,963  
Stock options vesting period 4 years    
Stock options expiration period 10 years    
2008 Equity Incentive Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock options vesting period 4 years    
Stock options expiration period 10 years    
Stock option granted during period 0    
2008 and 2016 Equity Incentive Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Shares reserved for issuance 6,890,701    
Tranche One | 2016 Equity Incentive Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Shares reserved for issuance     2,000,000
Tranche Two | 2008 Equity Incentive Plan | Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Shares reserved for issuance     42,934
Tranche Three | 2008 Equity Incentive Plan | Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Shares reserved for issuance     1,850,184