Income Taxes - Reconciliation Between Expected Income Tax Provision at Federal Statutory Rate and Reported Income Tax Benefit (Details)	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Tax Disclosure [Abstract]
U.S. federal statutory income tax rate	21.00%	21.00%	34.00%
Foreign tax at less than federal statutory rate	(0.30%)	(0.10%)	(0.50%)
Effect of Tax Act			(6.8)
State taxes, net of federal benefit	2.40%	2.00%	5.00%
Research and development tax credit	2.00%	2.20%	1.00%
Acquired IPR&D		(2.90%)
Permanent items	(0.80%)	(0.40%)	(0.10%)
Changes in valuation allowance	(24.30%)	(21.40%)	(19.00%)
Other	(0.10%)		(0.10%)
Effective income tax rate	(0.10%)	0.40%	13.50%

Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to statutory income tax expense (benefit) outside of the country of domicile.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to state and local income tax expense (benefit), net of federal tax expense (benefit).

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Percentage of reported income tax expense (benefit) in excess of (less than) expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operations, attributable to Tax Cuts and Jobs Act.

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Effective income tax rate reconciliation in-process research and development percent.

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Effective income tax rate reconciliation permanent items percent.

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