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Income Taxes - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	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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