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Net Loss per Share - Antidilutive Securities (Details) - shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Potentially dilutive securities have been excluded from diluted net loss per share calculations
Anti-dilutive securities (in shares)	7,671,110	6,750,278	6,399,025
Options to purchase common stock
Potentially dilutive securities have been excluded from diluted net loss per share calculations
Anti-dilutive securities (in shares)	4,648,120	3,681,521	3,178,441
Common stock warrants
Potentially dilutive securities have been excluded from diluted net loss per share calculations
Anti-dilutive securities (in shares)	2,750,000	2,750,000	2,750,000
Restricted stock units
Potentially dilutive securities have been excluded from diluted net loss per share calculations
Anti-dilutive securities (in shares)	244,545	278,482	418,450
ESPP rights
Potentially dilutive securities have been excluded from diluted net loss per share calculations
Anti-dilutive securities (in shares)	28,445	40,275	52,134

X

- Definition

Securities (including those issuable pursuant to contingent stock agreements) that could potentially dilute basic earnings per share (EPS) or earnings per unit (EPU) in the future that were not included in the computation of diluted EPS or EPU because to do so would increase EPS or EPU amounts or decrease loss per share or unit amounts for the period presented.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 260
-SubTopic 10
-Section 50
-Paragraph 1
-Subparagraph (c)
-URI http://asc.fasb.org/extlink&oid=6371337&loc=d3e3550-109257

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+ References

No definition available.

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