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Stockholders' Equity Summary of Stock Options Outstanding (Details)	12 Months Ended
	Dec. 31, 2019 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (shares) | shares	9,265,390
Weighted-Average Remaining Contractual Life (in Years)	6 years 5 months 31 days
Weighted average exercise price ($ per share)	$ 5.72
Options exercisable (shares) | shares	6,745,317
Weighted-average exercise price ($ per share)	$ 6.37
$1.48-$3.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit ($ per share)	1.48
Exercise price, upper range limit ($ per share)	$ 3
Options outstanding (shares) | shares	903,257
Weighted-Average Remaining Contractual Life (in Years)	3 years 4 months 31 days
Weighted average exercise price ($ per share)	$ 2.29
Options exercisable (shares) | shares	848,969
Weighted-average exercise price ($ per share)	$ 2.26
$3.01-$6.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit ($ per share)	3.01
Exercise price, upper range limit ($ per share)	$ 6
Options outstanding (shares) | shares	4,066,998
Weighted-Average Remaining Contractual Life (in Years)	7 years 10 months 30 days
Weighted average exercise price ($ per share)	$ 3.90
Options exercisable (shares) | shares	1,844,977
Weighted-average exercise price ($ per share)	$ 4.12
$6.01-$9.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit ($ per share)	6.01
Exercise price, upper range limit ($ per share)	$ 9
Options outstanding (shares) | shares	3,454,212
Weighted-Average Remaining Contractual Life (in Years)	6 years 31 days
Weighted average exercise price ($ per share)	$ 7.20
Options exercisable (shares) | shares	3,210,448
Weighted-average exercise price ($ per share)	$ 7.24
$9.01-$12.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit ($ per share)	9.01
Exercise price, upper range limit ($ per share)	$ 12
Options outstanding (shares) | shares	220,880
Weighted-Average Remaining Contractual Life (in Years)	5 years 9 months 30 days
Weighted average exercise price ($ per share)	$ 9.83
Options exercisable (shares) | shares	220,880
Weighted-average exercise price ($ per share)	$ 9.83
$12.01-$15.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit ($ per share)	12.01
Exercise price, upper range limit ($ per share)	$ 15
Options outstanding (shares) | shares	620,043
Weighted-Average Remaining Contractual Life (in Years)	4 years 2 months 28 days
Weighted average exercise price ($ per share)	$ 12.96
Options exercisable (shares) | shares	620,043
Weighted-average exercise price ($ per share)	$ 12.96

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The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

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The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied.

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The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices.

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Weighted average remaining contractual term of outstanding stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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