Stock-based Compensation - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
6 Months Ended
Jun. 30, 2020
USD ($)
$ / shares
shares
Number of Shares  
Outstanding at beginning of period (in shares) | shares 7,296,746
Granted (in shares) | shares 80,100
Exercised (in shares) | shares 0
Forfeited (in shares) | shares (56,609)
Expired (in shares) | shares (521,317)
Outstanding at end of period (in shares) | shares 6,798,920
Vested and expected to vest at end of period (in shares) | shares 6,774,447
Vested and exercisable at end of period (in shares) | shares 5,871,832
Weighted Average Exercise Price  
Outstanding at beginning of period (in dollars per share) | $ / shares $ 2.48
Granted (in dollars per share) | $ / shares 1.51
Exercised (in dollars per share) | $ / shares 0
Forfeited (in dollars per share) | $ / shares 2.14
Expired (in dollars per share) | $ / shares 2.60
Outstanding at end of period (in dollars per share) | $ / shares 2.46
Vested and expected to vest at end of period (in dollars per share) | $ / shares 2.46
Vested and exercisable at end of period (in dollars per share) | $ / shares $ 2.52
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures  
Weighted average remaining contractual term (in years), outstanding 5 years 2 months 4 days
Weighted average remaining contractual term (in years), vested and expected to vest 5 years 1 month 28 days
Weighted average remaining contractual term (in years), vested and exercisable 4 years 8 months 23 days
Aggregate intrinsic value, outstanding | $ $ 0
Aggregate intrinsic value, vested and expected to vest | $ 0
Aggregate intrinsic value, vested and exercisable | $ $ 0