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Nature of Operations and Summary of Significant Accounting Policies - Schedule of Stock Based Compensation (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Total stock based compensation expense | $ 7,338,000 | $ 8,178,000 | $ 4,644,000
Stock Option [Member] |  |  |
Total stock based compensation expense | 7,338,000 | 8,178,000 | 4,644,000
Tax benefit |  |  |
Stock based compensation expense, net of tax | 7,338,000 | 8,178,000 | 4,644,000
Stock Option [Member] | Research and Development Expense [Member] |  |  |
Total stock based compensation expense | 3,932,000 | 3,913,000 | 1,668,000
Stock Option [Member] | Selling General and Administrative Expenses [Member] |  |  |
Total stock based compensation expense | 3,406,000 | 4,265,000 | 2,976,000
Restricted Stock [Member] |  |  |
Total stock based compensation expense | 899,000 | 688,000 | 1,272,000
Tax benefit |  |  |
Stock based compensation expense, net of tax | 899,000 | 688,000 | 1,272,000
Restricted Stock [Member] | Research and Development Expense [Member] |  |  |
Total stock based compensation expense | 454,000 |  |
Restricted Stock [Member] | Selling General and Administrative Expenses [Member] |  |  |
Total stock based compensation expense | $ 445,000 | $ 688,000 | $ 1,272,000

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