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Income Taxes - Additional Information (Details) - USD ($) |  | 12 Months Ended |  |
--- | --- | --- | --- | ---
Jan. 01, 2018 | Dec. 31, 2019 | Dec. 31, 2017 | Dec. 31, 2018 | Dec. 31, 2016
Operating Loss Carryforwards [Line Items] |  |  |  |  |
Deferred Tax Assets, Tax Credit Carryforwards, Research |  | $ 42,490,000 |  | $ 35,670,000 |
Effective income tax rate reconciliation, at federal statutory income tax rate, percent | 21.00% | 21.00% | 35.00% |  |
Adjustment of deferred tax (asset) liability, revaluation based on new tax rate |  |  | $ 74,300,000 |  |
Unrecognized Tax Benefits, Ending Balance |  | $ 4,784,000 | 120,000 | $ 2,385,000 | $ 120,000
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued, Total |  | 0 |  |  |
Deferred Tax Assets Revaluated |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |
Valuation allowance, deferred tax asset, increase (decrease) |  |  | $ (74,300,000) |  |
Domestic Tax Authority |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |
Operating Loss Carryforwards, Total |  | 865,200,000 |  |  |
Expiring Operating Loss Carryforwards |  | $ 549,700,000 |  |  |
Net operating loss carryforwards expiration year |  | 2021 |  |  |
Indefinite Operating Loss Carryforwards |  | $ 315,500,000 |  |  |
Taxable income limitation percentage for operating loss carryforward |  | 80.00% |  |  |
Deferred Tax Assets, Tax Credit Carryforwards, Research |  | $ 33,700,000 |  |  |
Research and development credit carryforwards expiration year |  | 2022 |  |  |
State and Local Jurisdiction |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |
Net operating loss carryforwards expiration year |  | 2028 |  |  |
Deferred Tax Assets, Tax Credit Carryforwards, Research |  | $ 15,800,000 |  |  |
State and Local Jurisdiction | California Franchise Tax Board |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |
Operating Loss Carryforwards, Total |  | 125,900,000 |  |  |
State and Local Jurisdiction | Other State Jurisdiction |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |
Operating Loss Carryforwards, Total |  | $ 1,100,000,000 |  |  |

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