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Income Taxes - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Income Taxes [Line Items] |  |  |
U.S. federal corporate tax rate | 21.00% |  | 35.00%
Federal AMT tax |  | $ 0.2 |
Federal AMT credit refunded |  | 0.1 |
Increase (decrease) in valuation allowance during the year | $ 0.9 | $ (56.9) |
Percentage of limitation on federal and state net operating loss carryforwards | 97.00% |  |
Percentage of limitation on federal tax credit carryforwards | 96.00% |  |
Federal |  |  |
Income Taxes [Line Items] |  |  |
Net operating loss carryforwards, amount | $ 200.2 |  |
Net operating loss carryforwards available before expiration | 6.3 |  |
Federal | Research and development |  |  |
Income Taxes [Line Items] |  |  |
Tax credit carryforwards with expiration | 8.9 |  |
State |  |  |
Income Taxes [Line Items] |  |  |
Net operating loss carryforwards, amount | 122.9 |  |
Net operating loss carryforwards available before expiration | 5.4 |  |
State | Research and development |  |  |
Income Taxes [Line Items] |  |  |
Tax credit carryforwards without expiration | $ 8.3 |  |
Earliest Tax Year |  |  |
Income Taxes [Line Items] |  |  |
Net operating loss carryforwards, expiration year | 2025 |  |
Latest Tax Year |  |  |
Income Taxes [Line Items] |  |  |
Net operating loss carryforwards, expiration year | 2039 |  |

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