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Equity Incentive Plans - Option Activity (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2020
USD ($)
$ / shares
shares
Shares Subject to Options  
Stock options outstanding, beginning balance (in shares) | shares 3,039,880
Granted (in shares) | shares 115,550
Exercises (in shares) | shares (22,033)
Forfeitures and cancellations (in shares) | shares (266,468)
Stock options outstanding, ending balance (in shares) | shares 2,866,929
Stock options exercisable, ending balance (in shares) | shares 1,423,084
Weighted-Average Exercise Price per Share  
Stock options outstanding, beginning balance (in dollars per share) | $ / shares $ 29.40
Granted (in dollars per share) | $ / shares 15.88
Exercises (in dollars per share) | $ / shares 1.66
Forfeitures and cancellations (in dollars per share) | $ / shares 37.14
Stock options outstanding, ending balance (in dollars per share) | $ / shares 28.35
Stock options exercisable, ending balance (in dollars per share) | $ / shares $ 26.04
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value  
Weighted average remaining contractual term, options outstanding (in years) 7 years 3 months 18 days
Weighted average remaining contractual term, options exercisable (in years) 5 years 3 months 29 days
Aggregate intrinsic value, options outstanding | $ $ 6,683
Aggregate intrinsic value, options exercisable | $ $ 6,565