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Net Loss per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2020
Mar. 31, 2020
Jun. 30, 2019
Mar. 31, 2019
Jun. 30, 2020
Jun. 30, 2019
Numerator:            
Net loss $ (11,597) $ (15,586) $ (49,876) $ (37,565) $ (27,183) $ (87,441)
Denominator:            
Weighted average shares of common stock outstanding (in shares) 42,133,646   41,274,808   41,876,037 41,261,808
Net loss per share, basic and diluted $ (0.28)   $ (1.21)   $ (0.65) $ (2.12)