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Share-based Compensation Arrangement by Share-based Payment Award, Additional Shares Authorized, Percentage Share-based Compensation Arrangement by Share-based Payment Award, Additional Shares Authorized, Percentage Common stock Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract] Series G redeemable convertible preferred stock Series G Preferred Stock [Member] Depreciation and amortization Depreciation, Depletion and Amortization Warrant expiration April 1, 2026 Expiration Apr 1, 2026 [Member] Expiration Apr 1, 2026 Cash paid for interest expense Interest Paid, Excluding Capitalized Interest, Operating Activities Forecast Forecast [Member] Preferred stock, $0.001 par value; 10,000,000 shares authorized, no shares issued or outstanding at June 30, 2020 and December 31, 2019 Preferred Stock, Value, Issued Beginning balance (in shares) Ending balance (in shares) Redeemable convertible preferred stock outstanding (in shares) Temporary Equity, Shares Outstanding Money market funds Cash and Cash Equivalents, Fair Value Disclosure Term loan, fee incurred upon payment of final installment Debt Instrument, Fee Amount Security Exchange Name Security Exchange Name Accrued payroll and related expenses Accrued Salaries, Current Anti-dilutive securities excluded from computation (in shares) Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount Other Other Customer [Member] Accretion of redeemable convertible preferred stock Temporary Equity, Accretion to Redemption Value, Adjustment Long-term Debt, Type [Axis] Long-term Debt, Type [Axis] Net cash used in operating activities Net Cash Provided by (Used in) Operating Activities Equity Component [Domain] Equity Component [Domain] Expected term (in years) Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term Document Transition Report Document Transition Report 2021 Long-term Debt, Maturities, Repayments of Principal in Next Twelve Months Stock options Share-based Payment Arrangement, Option [Member] Remaining milestone obligation, fair value Milestone Contingency, Fair Value Disclosure Milestone Contingency, Fair Value Disclosure Cash flows from investing activities: Net Cash Provided by (Used in) Investing Activities, Continuing Operations [Abstract] Net exercise of common stock warrants Stock Issued During Period, Value, Warrants Exercised, Net Stock Issued During Period, Value, Warrants Exercised, Net Net loss attributable to common stockholders (Note 2) Net Income (Loss) Available to Common Stockholders, Diluted Proceeds from exercise of common stock warrants Proceeds from Warrant Exercises Income Statement [Abstract] Income Statement [Abstract] Balance Sheet Location [Axis] Balance Sheet Location [Axis]