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Income Taxes - Schedule of Components of Income Tax Expense (Benefit) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Tax Disclosure [Abstract]
Tax at statutory federal rate	$ (42,997)	$ (37,557)	$ (67,145)
State tax, net of federal benefit	(9,823)	(6,527)	(6,203)
Research and development credits	(4,855)	(4,775)	(5,962)
Stock-based compensation expense	2,906	(2,059)	3,151
Non-deductible compensation	4,720	901
Change in valuation allowance	49,479	50,834	3,241
Impact of the 2017 Tax Act			74,361
Other	570	(817)	(1,443)
Provision for income taxes	$ 0	$ 0	$ 0

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to compensation nondeductible expenses.

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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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