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Equity Plans - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2020 | Mar. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | $ 2,048 | $ 1,979
Total unrecognized stock-based compensation costs related to stock options | $ 16,200 |
Period of unrecognized stock-based compensation costs to be recognized | 3 years 1 month 6 days |
Research and Development |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | $ 1,066 | 1,122
General and Administrative |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | $ 982 | $ 857

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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