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Condensed Consolidated Statements of Cash Flows - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Sep. 30, 2019
Mar. 31, 2020
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Cash flows from operating activities                
Net loss $ (23,708)     $ (29,123)   $ (45,532) $ (84,043)  
Adjustments to reconcile net loss to net cash used in operating activities                
Gain from Continuation Advances   $ (34,000)       (34,000)   $ (18,000)
Depreciation           4,827 5,483  
Amortization of operating lease right-of-use assets           2,127 1,954  
Amortization of debt discount and financing costs           129 887  
Gain on derivative             (16)  
Stock-based compensation           12,258 12,532  
Amortization (accretion) from investment premium (discount)           (141) (821)  
Loss on disposition of equipment             144  
Changes in assets and liabilities                
Accounts receivable           3,428 (1,371)  
Inventory           (2,988) 2,255  
Prepaid expenses and other assets           216 238  
Accounts payable           (2,955) 1,454  
Accrued expenses           1,646 4,914  
Deferred revenue           (818) 387  
Operating lease liabilities           (2,791) (2,537)  
Other liabilities           360 (1,592)  
Deferred gain from Reverse Termination fee           98,000    
Net cash provided by (used in) operating activities           33,766 (60,132)  
Cash flows from investing activities                
Purchase of property and equipment           (972) (2,695)  
Purchase of investments           (234,555) (42,710)  
Sales of investments             1,500  
Maturities of investments           114,700 109,360  
Net cash provided by (used in) investing activities           (120,827) 65,455  
Cash flows from financing activities                
Continuation Advances   34,000 $ 18,000   $ 52,000 34,000    
Notes payable principal payoff           (16,000)    
Proceeds from issuance of common stock from underwritten public equity offering, net of issuance costs           93,788    
Proceeds from issuance of common stock from equity plans           14,174 8,417  
Net cash provided by financing activities           125,962 8,417  
Net increase in cash and cash equivalents and restricted cash           38,901 13,740  
Cash and cash equivalents and restricted cash at beginning of period   $ 33,627 37,084   $ 37,084 33,627 23,344 23,344
Cash and cash equivalents and restricted cash at end of period 72,528   33,627 37,084   72,528 37,084 33,627
Cash and cash equivalents at end of period 69,028   $ 29,627 33,084   69,028 33,084 $ 29,627
Restricted cash at end of period $ 3,500     $ 4,000   3,500 4,000  
Supplemental disclosure of non-cash operating activities                
Inventory transferred to property and equipment           541 1,784  
Inventory transferred from property and equipment           $ 181 $ 1,228