Annual report pursuant to Section 13 and 15(d)

Income Taxes - Reconciliation of Statutory U.S. Federal Income Tax Rate to Effective Tax Rate (Details)

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Income Taxes - Reconciliation of Statutory U.S. Federal Income Tax Rate to Effective Tax Rate (Details)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Income Tax Disclosure [Abstract]    
U.S. federal statutory income tax rate 21.00% 21.00%
Foreign tax rate differential (4.20%) (3.50%)
State taxes, net of federal benefit 3.70% 5.50%
Nondeductible expenses   0.30%
Research and development credits   0.70%
Change in federal tax rate   0.10%
Change in valuation allowance (20.50%) (24.20%)
Other   0.10%