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Stockholders' Equity (Details) - USD ($) $ in Thousands | 1 Months Ended | 2 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
Nov. 30, 2017 | May 31, 2016 | Feb. 29, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2016
Common Stock |  |  |  |  |  |  |
Maximum aggregate offering price of securities available for sale |  |  |  | $ 150,000 |  |  | $ 250,000
Aggregate offering price stock sale |  | $ 60,000 |  |  |  |  |
Additional offering price stock sale authorized | $ 75,000 |  |  |  |  |  |
Net proceeds from sale of common stock |  |  |  | $ 16,248 | $ 29,022 | $ 51,025 |
Common Stock |  |  |  |  |  |  |
Common Stock |  |  |  |  |  |  |
Shares Issued in Connection with Cantor Agreement (in shares) |  |  |  | 5,011,157 | 2,702,660 | 1,181,524 |
Aggregate gross offering price available |  |  |  | $ 20,700 |  |  |
Common Stock | Subsequent Event |  |  |  |  |  |  |
Common Stock |  |  |  |  |  |  |
Common stock issued (in shares) |  |  | 520,606 |  |  |  |
Net proceeds from sale of common stock |  |  | $ 1,200 |  |  |  |

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