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Income Taxes Reconciliation of Income Taxes (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Income Tax Expense (Benefit), Continuing Operations, Income Tax Reconciliation [Abstract] |  |  |
Income (benefit) taxes at statutory rates | $ (25,370) | $ (19,908) | $ (30,872)
State income tax, net of federal benefit | 0 | (4) | (4)
Foreign income taxes | 0 | 2,170 | 0
Change in valuation allowance | 25,457 | 20,898 | (20,965)
Research and development tax credits | (3,838) | (3,170) | (3,456)
Change in fair value of warrants | 0 | (76) | (282)
Stock-based compensation | 1,114 | 1,094 | 2,332
Uncertain tax positions | 1,537 | 1,268 | 846
Expired NOLs and credits | 616 | 2,176 | 454
Limited NOLs and credits | (616) | (2,176) | (165)
Change in tax rates | 12 | 0 | 50,019
Other | 831 | (102) | 2,093
Income tax expense (benefit) | $ (257) | $ 2,170 | $ 0

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- Definition 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 increase (decrease) in the valuation allowance for deferred tax assets. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 13 -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32698-109319 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32687-109319 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 45 -Paragraph 20 -URI http://asc.fasb.org/extlink&oid=116821951&loc=d3e32123-109318 + Details
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