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Stockholders' Equity Summary of Stock Option Activity Under Equity Incentive Plan (Details)
 12 Months Ended
Dec. 31, 2019
$ / shares
shares
Number of Shares  
Beginning Balance (shares) | shares 8,752,677
Granted (shares) | shares 2,596,468
Exercised (shares) | shares (42,969)
Cancelled (shares) | shares (2,040,786)
Ending Balance (shares) | shares 9,265,390
Weighted-Average Exercise Price  
Beginning Balance ($ per share) | $ / shares $ 6.35
Granted ($ per share) | $ / shares 3.39
Exercised ($ per share) | $ / shares 2.62
Cancelled ($ per share) | $ / shares 5.49
Ending Balance ($ per share) | $ / shares $ 5.72