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Loan and Security Agreement (Details) $ / shares in Units, $ in Thousands	1 Months Ended	12 Months Ended
	Feb. 28, 2015 USD ($) Y item $ / shares shares	Dec. 31, 2019 USD ($) installment $ / shares shares	Dec. 31, 2018 USD ($)	Dec. 31, 2017 USD ($)	Dec. 01, 2018 USD ($)	Aug. 31, 2016 USD ($)
Warrants \| Option pricing model
Significant assumptions used in valuation of the Company's warrants
Life of treasury bonds	4 years
Warrants \| Common stock warrants \| Option pricing model \| Volatility
Significant assumptions used in valuation of the Company's warrants
Warrants, Measurement Input \| item	0.750
Warrants \| Common stock warrants \| Option pricing model \| Risk free interest rate
Significant assumptions used in valuation of the Company's warrants
Warrants, Measurement Input \| item	0.0122
Warrants \| Common stock warrants \| Option pricing model \| Strike price
Significant assumptions used in valuation of the Company's warrants
Warrants, Measurement Input \| item	5.89
Warrants \| Common stock warrants \| Option pricing model \| Share price
Significant assumptions used in valuation of the Company's warrants
Warrants, Measurement Input \| item	9.82
Warrants \| Common stock warrants \| Option pricing model \| Expected life
Significant assumptions used in valuation of the Company's warrants
Warrants, Measurement Input \| Y	4
Secured debt
Interest expense
Interest expense, including accretion of value of related warrants and amortization of deferred financing costs		$ 0	$ 1,100	$ 1,900
Secured debt \| Oxford Loan
Loan and Security Agreement
Repayment of existing debt	$ 15,500
Hercules Capital, Inc. \| Hercules Loan ("Term Loan") \| Right to participate in future equity financings \| Maximum
Loan and Security Agreement
Equity financings amount	$ 2,000
Hercules Capital, Inc. \| Warrants \| Common stock warrants
Loan and Security Agreement
Common stock that can be purchased with warrants (in shares) \| shares	180,274	180,274
Exercise price of warrants (in dollars per share) \| $ / shares	$ 5.89	$ 5.89
Hercules Capital, Inc. \| Additional Paid-in Capital
Loan and Security Agreement
Fair value of common stock warrants issued with debt financing	$ 1,200
Hercules Capital, Inc. \| Secured debt \| Hercules Loan ("Term Loan")
Loan and Security Agreement
Maximum borrowing capacity	25,000
Facility Fee						$ 165
Outstanding borrowings, current portion		$ 0	$ 0
Fixed interest rate (as a percent)		9.00%
Number of consecutive monthly principal installments \| installment		23
Final payment amount due					$ 611
Discount on debt	1,200
Hercules Capital, Inc. \| Secured debt \| Hercules Loan Tranche One
Loan and Security Agreement
Amount borrowed	$ 16,500
Hercules Capital, Inc. \| Secured debt \| Hercules Loan Tranche Two
Loan and Security Agreement
Additional amount available						$ 8,500
Hercules Capital, Inc. \| Secured debt \| Prime \| Hercules Loan ("Term Loan")
Loan and Security Agreement
Variable rate basis		Prime minus 4.25%
Variable interest rate margin (as a percent)		9.00%
Variable rate adjustment (as a percent)		(4.25%)