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Stockholders' Equity - Narrative (Details) - USD ($) | 1 Months Ended | 3 Months Ended |  |
--- | --- | --- | --- | ---
May 31, 2018 | Mar. 31, 2020 | Jan. 01, 2020 | May 13, 2016
2016 Incentive Plan |  |  |  |
Class of Stock [Line Items] |  |  |  |
Number of shares authorized (in shares) |  | 18,000,000 |  | 18,000,000
Number of potential shares authorized for issuance under share based compensation plan (in shares) |  |  |  | 2,000,000
Increase in number of shares authorized (in shares) |  |  | 2,000,000 |
Number of shares available for grant (in shares) |  | 7,536,221 |  |
Number of shares of unvested restricted stock units and options outstanding (in shares) |  | 2,667,710 |  |
Common stock, other shares, outstanding (in shares) |  | 5,631,777 |  |
Award vesting period |  | 3 years |  |
Maximum contractual term |  | 10 years |  |
2007 Incentive Plan |  |  |  |
Class of Stock [Line Items] |  |  |  |
Common stock, other shares, outstanding (in shares) |  | 3,984,209 |  |
Award vesting period |  | 3 years |  |
Maximum contractual term |  | 10 years |  |
Common stock | Sales Agreement |  |  |  |
Class of Stock [Line Items] |  |  |  |
Maximum authorized amount | $ 100,000,000.0 | $ 250,000,000.0 |  |
Agent fee | 3.00% |  |  |
Aggregate number of shares issued (in shares) |  | 43,148,952 |  |
Stock sale agreement weighted average price per share |  | $ 4.92 |  |
Aggregate proceeds |  | $ 208,200,000 |  |
Stock sales agreement, remaining authorized sales amount |  | $ 150,000,000 |  |

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