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Nature of Operations and Summary of Significant Accounting Policies (Details Narrative) - USD ($)
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Jan. 02, 2019
Jan. 02, 2018
Oct. 16, 2017
Dec. 31, 2016
Cash, cash equivalents and short-term investments $ 129,258,000            
Net assets 178,430,000            
Net cash used in operating activities (62,820,000) $ (39,111,000) $ (22,655,000)        
Allowance for doubtful accounts receivable          
Receivables 81,000          
Right-of-use lease assets 8,047,000          
Operating lease liability 7,950,000            
Goodwill 32,466,000 32,466,000          
Goodwill impairment        
Stockholders' equity 178,430,000 134,045,000 170,098,000   $ 6,300,000   $ 99,098,000
Deferred revenue 296,000 296,000 2,600,000   2,600,000    
Accumulated deficit (486,470,000) (410,188,000)     2,600,000    
Grants Receivable 5,700,000 5,700,000          
Aggregate amount to the performance obligations 300,000 300,000          
Accounting Standards Update 2016-02 [Member]              
Right-of-use lease assets       $ 8,900,000      
Operating lease liability       $ 8,900,000      
MPS IIIA [Member]              
Value in installments for the advancement           $ 13,900,000  
MPS IIIB [Member]              
Value in installments for the advancement           $ 13,900,000  
Foundation Revenues [Member]              
Deferred revenue $ 0 $ 2,800,000          
Licenses [Member]              
Deferred revenue     $ 3,700,000   3,700,000    
Accumulated deficit         $ 3,700,000