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Equity Plans - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]
Total stock-based compensation expense	$ 7,899	$ 8,353	$ 6,919
Total unrecognized stock-based compensation costs related to stock options	$ 16,000
Period of unrecognized stock-based compensation costs to be recognized	2 years 8 months 12 days
Research and Development
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]
Total stock-based compensation expense	$ 4,121	4,350	3,424
General and Administrative
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]
Total stock-based compensation expense	$ 3,778	$ 4,003	$ 3,495

X

- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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