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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