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Stock Incentive Plans - Schedule of Assumptions (Details) - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Shares available for future stock incentive awards      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Risk-free interest rate 1.86% 2.85% 2.03%
Dividend yield 0.00% 0.00% 0.00%
Expected term 5 years 11 months 8 days 6 years 21 days 5 years 10 months 24 days
Expected volatility 87.66% 85.17% 84.52%
Weighted-average fair value of common stock (in dollars per share) $ 2.01 $ 8.45 $ 15.32
Non-employee stock options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Risk-free interest rate 1.92% 2.77% 0.00%
Dividend yield 0.00% 0.00% 0.00%
Expected term 5 years 3 months 29 days 5 years 9 months 21 days 0 days
Expected volatility 88.60% 85.86% 0.00%