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Stock Option Plans - Schedule of Options Outstanding and Exercisable (Details) - $ / shares | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2016
2015 Equity Incentive Plan [Member] |  |  |  |
Number of options outstanding | 5,795,395 | 5,525,405 | 5,112,967 | 4,443,000
Weighted-average Remaining life in years | 10 years |  |  |
Weighted-average Exercise price | $ 7.96 | $ 8.08 | $ 9.07 | $ 4.94
Number of options exercisable | 3,452,689 |  |  |
2015 Equity Incentive Plan [Member] | Range One [Member] |  |  |  |
Range of exercise price, lower limit | $ 2.26 |  |  |
Range of exercise price, upper limit | $ 5.44 |  |  |
Number of options outstanding | 1,989,150 |  |  |
Weighted-average Remaining life in years | 7 years |  |  |
Weighted-average Exercise price | $ 3.66 |  |  |
Number of options exercisable | 1,462,346 |  |  |
Weighted-average Remaining life in years, exercisable | 6 years 6 months |  |  |
Weighted-average Exercise price, exercisable | $ 3.46 |  |  |
2015 Equity Incentive Plan [Member] | Range Two [Member] |  |  |  |
Range of exercise price, lower limit | 5.90 |  |  |
Range of exercise price, upper limit | $ 9.23 |  |  |
Number of options outstanding | 2,425,240 |  |  |
Weighted-average Remaining life in years | 7 years 7 months 6 days |  |  |
Weighted-average Exercise price | $ 7.35 |  |  |
Number of options exercisable | 1,253,189 |  |  |
Weighted-average Remaining life in years, exercisable | 6 years 2 months 12 days |  |  |
Weighted-average Exercise price, exercisable | $ 7.32 |  |  |
2015 Equity Incentive Plan [Member] | Range Three [Member] |  |  |  |
Range of exercise price, lower limit | 11.43 |  |  |
Range of exercise price, upper limit | $ 14.45 |  |  |
Number of options outstanding | 456,619 |  |  |
Weighted-average Remaining life in years | 8 years 6 months |  |  |
Weighted-average Exercise price | $ 13.49 |  |  |
Number of options exercisable | 204,025 |  |  |
Weighted-average Remaining life in years, exercisable | 8 years 4 months 24 days |  |  |
Weighted-average Exercise price, exercisable | $ 13.56 |  |  |
2015 Equity Incentive Plan [Member] | Range Four [Member] |  |  |  |
Range of exercise price, lower limit | 15.25 |  |  |
Range of exercise price, upper limit | $ 17.30 |  |  |
Number of options outstanding | 924,386 |  |  |
Weighted-average Remaining life in years | 8 years |  |  |
Weighted-average Exercise price | $ 16.09 |  |  |
Number of options exercisable | 533,129 |  |  |
Weighted-average Remaining life in years, exercisable | 8 years |  |  |
Weighted-average Exercise price, exercisable | $ 16.07 |  |  |
2005 Equity Incentive Plan [Member] |  |  |  |
Number of options outstanding | 260,000 | 316,400 | 316,760 | 328,560
Weighted-average Exercise price | $ 12.94 | $ 14.15 | $ 14.31 | $ 14.57
Number of options exercisable | 260,000 |  |  |
2005 Equity Incentive Plan [Member] | Range One [Member] |  |  |  |
Range of exercise price, lower limit | $ 3.25 |  |  |
Range of exercise price, upper limit | $ 3.25 |  |  |
Number of options outstanding | 120,000 |  |  |
Weighted-average Remaining life in years | 1 month 6 days |  |  |
Weighted-average Exercise price | $ 3.25 |  |  |
Number of options exercisable | 120,000 |  |  |
Weighted-average Remaining life in years, exercisable | 1 month 6 days |  |  |
Weighted-average Exercise price, exercisable | $ 3.25 |  |  |
2005 Equity Incentive Plan [Member] | Range Two [Member] |  |  |  |
Range of exercise price, lower limit | 11.50 |  |  |
Range of exercise price, upper limit | $ 30.50 |  |  |
Number of options outstanding | 136,100 |  |  |
Weighted-average Remaining life in years | 4 years 1 month 6 days |  |  |
Weighted-average Exercise price | $ 18.48 |  |  |
Number of options exercisable | 136,100 |  |  |
Weighted-average Remaining life in years, exercisable | 4 years 1 month 6 days |  |  |
Weighted-average Exercise price, exercisable | $ 18.48 |  |  |
2005 Equity Incentive Plan [Member] | Range Three [Member] |  |  |  |
Range of exercise price, lower limit | 113.50 |  |  |
Range of exercise price, upper limit | $ 122.50 |  |  |
Number of options outstanding | 3,900 |  |  |
Weighted-average Remaining life in years | 10 months 25 days |  |  |
Weighted-average Exercise price | $ 117.65 |  |  |
Number of options exercisable | 3,900 |  |  |
Weighted-average Remaining life in years, exercisable | 10 months 25 days |  |  |
Weighted-average Exercise price, exercisable | $ 117.65 |  |  |

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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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