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Stockholders' Equity - Narrative (Details) - USD ($)
 1 Months Ended 3 Months Ended 6 Months Ended
Apr. 03, 2020
May 31, 2018
Jun. 30, 2020
Mar. 31, 2020
Jun. 30, 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   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)     6,953,960   6,953,960    
Number of shares of unvested restricted stock units and options outstanding (in shares)     2,868,665   2,868,665    
Common stock, other shares, outstanding (in shares)     5,733,501   5,733,501    
Award vesting period (in years)         3 years    
Maximum contractual term (in years)         10 years    
2007 Incentive Plan              
Class of Stock [Line Items]              
Common stock, other shares, outstanding (in shares)     3,459,595   3,459,595    
Award vesting period (in years)         3 years    
Maximum contractual term (in years)         10 years    
Common stock              
Class of Stock [Line Items]              
Conversion of stock, shares issued (in shares)     5,147        
Common stock | Prior Sales Agreement              
Class of Stock [Line Items]              
Maximum authorized amount   $ 100,000,000.0   $ 250,000,000.0      
Remaining authorized amount       $ 0      
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      
Common stock | New Sales Agreement              
Class of Stock [Line Items]              
Maximum authorized amount $ 250,000,000.0       $ 126,400,000    
Agent fee 3.00%            
Aggregate number of shares issued (in shares)     12,041,178        
Stock sale agreement weighted average price per share     $ 10.26        
Aggregate proceeds     $ 121,700,000        
Series C Preferred Stock              
Class of Stock [Line Items]              
Conversion of stock, shares converted (in shares)     14