Basic and Diluted Net Loss Per Share - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Potential anti-dilutive shares (in shares)	9,193,339	8,983,178	5,221,894
Option
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Potential anti-dilutive shares (in shares)	8,041,159	7,744,521	4,195,762
RSUs
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Potential anti-dilutive shares (in shares)	1,152,180	1,238,657	641,358
Warrant
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Potential anti-dilutive shares (in shares)	0	0	384,774