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Stockholders' Equity - Additional Information (Details) - USD ($) | 1 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Oct. 31, 2019 | Jun. 30, 2019 | Jun. 30, 2018 | Apr. 30, 2018 | Dec. 31, 2017 | Jun. 30, 2017 | Jan. 31, 2017 | Jun. 30, 2016 | May 31, 2015 | Jun. 30, 2014 | May 31, 2014 | Jun. 30, 2011 | May 31, 2010 | May 31, 2009 | Dec. 31, 2007 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 1997
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from issuance of common stock | $ 162,200,000 |  | $ 194,400,000 | $ 168,700,000 | $ 142,600,000 |  | $ 163,700,000 |  |  |  |  |  |  |  |  | $ 162,151,000 | $ 363,128,000 | $ 306,279,000 |
Class of warrant or right, number of securities called by warrants or rights |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 508,000 |  |  |
Share-based compensation arrangements by share-based payment award, options, exercises in period, weighted average exercise price |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 11.18 | $ 11.97 | $ 8.49 |
Common stock, shares, issued, total |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 90,304,000 | 78,174,000 |  |
Common stock, capital shares reserved for future issuance |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 31,474,000 |  |  |
Share-based compensation arrangement by share-based payment award, number of shares available for grant |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 4,971,000 |  |  |
Share-based compensation arrangement by share-based payment award, expiration period |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 10 years |  |  |
Share-based compensation arrangement by share-based payment award, award vesting period |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 4 years |  |  |
Share-based compensation arrangement by share-based payment award, options, forfeitures in period |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,021,453 |  |  |
Share-based compensation arrangements by share-based payment award, options, forfeitures in period, weighted average exercise price |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 20.91 |  |  |
Share-based compensation arrangement by share-based payment award, options, expirations in period |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 528,773 |  |  |
Share-based compensation arrangements by share-based payment award, options, expirations in period, weighted average exercise price |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 27.81 |  |  |
Share-based compensation arrangement by share-based payment award, options, exercisable, weighted average remaining contractual term |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 6 years 3 months 18 days |  |  |
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 25,000.0 | $ 31,400 |  |
Share-based compensation arrangement by share-based payment award, options, outstanding, intrinsic value |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 56,300 | $ 75,700 |  |
Common stock future issuance on exercise of outstanding options granted |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 16,664,640 |  |  |
Total unrecognized compensation cost related to non-vested, stock-based payment awards |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 128,700 |  |  |
Total unrecognized compensation cost, expect to recognize over weighted average period |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 3 years |  |  |
Employee Stock Purchase Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, number of shares authorized |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 10,000
Share-based compensation arrangement by share-based payment award, number of additional shares authorized |  | 300,000 |  |  |  | 200,000 |  | 100,000 | 100,000 |  | 25,000 | 25,000 |  | 10,000 | 5,000 | 775,000 |  |  |
Share-based compensation arrangement by share-based payment award maximum employee earnings with held to purchase common stock percent |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 10.00% |  |  |
Share-based compensation arrangement by share-based payment award discount on stock price |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 85.00% |  |  |
Share-based compensation arrangement by share-based payment award, shares issued in period |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 125,727 | 71,499 | 77,283 |
Share-based compensation arrangements by share-based payment award, options, exercises in period, weighted average exercise price |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 16.77 | $ 16.48 | $ 12.80 |
Common stock, shares, issued, total |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 404,909 |  |  |
Common stock, capital shares reserved for future issuance |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 370,091 |  |  |
Share-based compensation arrangement by share-based payment award, options, grants in period, weighted average grant date fair value |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 14.70 | 17.24 | 10.61 |
Share-based compensation arrangement by share-based payment award, per share weighted-average fair value price of shares purchased |  |  |  |  | $ 4.51 |  |  |  |  |  |  |  |  |  |  | $ 5.94 | $ 9.95 | $ 4.51 |
Expected life |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 6 months |  |  |
Equity Incentive Plan 2007 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, number of shares authorized |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 150,000 |  |  |  |
Share-based compensation arrangement by share-based payment award, number of additional shares authorized |  | 7,000,000 |  |  |  | 5,000,000 |  | 3,000,000 | 4,300,000 |  | 1,750,000 | 4,500,000 | 100,000 |  |  | 25,800,000 |  |  |
Share-based compensation arrangement by share-based payment award, number of shares available for grant |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 4,971,026 |  |  |
Pre-funded Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of warrant or right, number of securities called by warrants or rights |  |  |  |  |  |  |  |  |  | 600,000 |  |  |  |  |  |  |  |  |
Class of warrant or right, exercise price of warrants or rights |  |  |  |  |  |  |  |  |  | $ 0.01 |  |  |  |  |  |  |  |  |
Class of warrant or right, expiration date |  |  |  |  |  |  |  |  |  | Jun. 30, 2021 |  |  |  |  |  |  |  |  |
Class of warrant or right, exercised during period |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 132,130 |  | 4,426 |
Proceeds from issuance of warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,321,000 |  | $ 0 |
Class of warrant or right, outstanding |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 463,444 |  |  |
Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares issued | 9,900,000 |  | 5,100,000 | 6,900,000 | 9,700,000 |  | 14,100,000 |  |  |  |  |  |  |  |  | 9,857,000 | 11,963,000 | 23,822,000 |
Share price | $ 17.50 |  | $ 39.50 | $ 26.00 | $ 15.50 |  | $ 12.20 |  |  |  |  |  |  |  |  |  |  | $ 15.50 |
Payments of stock issuance costs | $ 10,300,000 |  | $ 5,600,000 | $ 10,700,000 | $ 7,400,000 |  | $ 8,800,000 |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock on exercise of warrants (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 132,000 |  | 4,000 |
Common Stock | Pre-funded Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock on exercise of warrants (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 132,130 |  | 4,423 |

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