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Stockholders' Equity - Narrative (Details) - USD ($)	1 Months Ended		3 Months Ended			6 Months Ended	9 Months Ended
	May 12, 2020	May 31, 2018	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Jun. 30, 2020	Sep. 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)			6,785,707				6,785,707
Number of shares of unvested restricted stock units and options outstanding (in shares)			2,586,915				2,586,915
Common stock, other shares, outstanding (in shares)			5,878,252				5,878,252
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)			3,412,095				3,412,095
Award vesting period (in years)							3 years
Maximum contractual term (in years)							10 years
Series C Preferred Stock
Class of Stock [Line Items]
Conversion of stock, shares converted (in shares)						14
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)			0	12,041,178
Stock sale agreement weighted average price per share				$ 10.26
Aggregate proceeds				$ 121,700,000

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