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Income Taxes - Reconciliation of Income Taxes (Details) - USD ($)	12 Months Ended
	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Income Tax Expense (Benefit), Continuing Operations, Income Tax Reconciliation [Abstract]
Income (benefit) taxes at statutory rates	$ (19,908,000)	$ (30,872,000)	$ (25,809,000)
State income tax, net of federal benefit	(4,000)	(4,000)	(4,000)
Foreign income taxes	2,170,000	0	0
Change in valuation allowance	20,898,000	(20,965,000)	29,678,000
Research and development tax credits	(3,170,000)	(3,456,000)	(3,117,000)
Fair value warrant	(76,000)	(282,000)	(47,000)
Stock compensation	1,094,000	2,332,000	113,000
Uncertain tax positions	1,268,000	846,000	1,367,000
Expired NOLs and credits	2,176,000	454,000	4,269,000
Limited NOLs and credits	(2,176,000)	(165,000)	(6,456,000)
Change in tax rates	0	50,019,000	(495,000)
Other	(102,000)	2,093,000	501,000
Income tax expense (benefit)	$ 2,170,000	$ 0	$ 0

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