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Stock Incentive Plans - Narrative (Details)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Jun. 21, 2016
shares
Mar. 31, 2019
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Dec. 31, 2018
USD ($)
$ / shares
shares
Dec. 31, 2017
USD ($)
$ / shares
Nov. 20, 2019
shares
Mar. 25, 2019
shares
Sep. 25, 2018
shares
Dec. 31, 2008
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock authorized and reserved for future issuance (in shares)     40,169,185 5,951,523          
Shares issued, value | $     $ 30,942            
Employee stock option grants                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock authorized and reserved for future issuance (in shares)     1,765,018 1,586,925          
Estimated forfeitures rate     10.00%            
Weighted average grant date fair value of stock options (in dollars per share) | $ / shares     $ 1.47 $ 6.17 $ 10.97        
Aggregate intrinsic value of stock options exercised | $     $ 100 $ 600 $ 2,600        
Unrecognized compensation expense related to unvested employee stock options | $     $ 9,800 $ 9,800          
Weighted average period for recognition     2 years 6 months 3 years 1 month 6 days          
Non-employee stock options                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Weighted average grant date fair value of stock options (in dollars per share) | $ / shares     $ 1.32 $ 6.78          
Vested and expected to vest (in shares)           141,328      
Vested and expected to vest, exercisable (in shares)           234,772      
share-based payment, plan modification incremental cost | $     $ 100            
Unrecognized compensation expense related to unvested non-employee stock options | $     $ 100 $ 1,100          
Unrecognized compensation expense related to unvested non-employee stock options, period     4 months 24 days 2 years 2 months 12 days          
Unvested restricted stock units                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock authorized and reserved for future issuance (in shares)   50,000 181,250 175,000          
Grants in period (in shares)   50,000 100,000            
Reserved for issuance (in shares)     50,000            
Vested in period (in dollars per share) | $ / shares     $ 1.65            
Grants in period (in dollars per share) | $ / shares   $ 2.29 $ 1.97            
Shares issued, value | $     $ 100            
The 2008 Plan and the 2016 Plan | Employee stock option grants                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Issuance of common stock upon exercise of options (in shares)     125,600            
Aggregate intrinsic value of stock options exercised | $     $ 1,500            
Vested and expected to vest (in shares)     5,843,053            
The 2008 Plan and the 2016 Plan | Non-employee stock options                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Issuance of common stock upon exercise of options (in shares)     0            
Aggregate intrinsic value of stock options exercised | $     $ 38            
Vested and expected to vest (in shares)     473,073            
2008 Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of shares authorized for grants (in shares)                 2,213,412
2008 Plan | Employee stock option grants                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Award vesting term     4 years            
Award expiration term     10 years            
2016 Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of shares authorized for grants (in shares)     1,210,256            
Automatic increase in the number of shares that may be issued (as a percent)     0.04            
Number of shares authorized, increase (in shares)     898,871 893,730          
Common stock authorized and reserved for future issuance (in shares)     267,612            
2016 Plan | Employee stock option grants                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Award vesting term     4 years            
Award expiration term     10 years            
2016 Plan | Employee stock option grants | Minimum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Combined voting power of participants (as a percent)     10.00%            
2016 Plan | Employee stock option grants | Maximum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Combined voting power of participants (as a percent)     10.00%            
2016 Plan | Employee stock option grants | Tranche One | Minimum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Exercise price of incentive stock options (not less than)     100.00%            
2016 Plan | Employee stock option grants | Tranche Two | Minimum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Exercise price of incentive stock options (not less than)     110.00%            
Employment Inducement Incentive Award Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of shares authorized for grants (in shares)     750,000            
Common stock authorized and reserved for future issuance (in shares)             2,000,000 1,175,000  
Employment Inducement Incentive Award Plan | Unvested restricted stock units                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Grants in period (in shares)   100,000              
Weighted average period for recognition     2 years 9 months 18 days            
Unrecognized compensation expense | $     $ 800            
ESPP                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Automatic increase in the number of shares that may be issued (as a percent) 0.01                
Number of shares authorized, increase (in shares)     224,717 223,432          
Common stock authorized and reserved for future issuance (in shares) 173,076   747,406            
Exercise price of incentive stock options (not less than) 85.00%