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Loan and Security Agreements (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended
Feb. 28, 2015
USD ($)
Y
item
$ / shares
shares
Jun. 30, 2019
USD ($)
$ / shares
shares
Jun. 30, 2018
USD ($)
Jun. 30, 2019
USD ($)
installment
$ / shares
shares
Jun. 30, 2018
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 $ 320 $ 0 $ 689    
Secured debt | Oxford Loan              
Loan and Security Agreement              
Repayment of existing debt $ 15,500            
Oxford Finance LLC | Common stock warrants              
Loan and Security Agreement              
Common stock that can be purchased with warrants (in shares) | shares   62,505   62,505      
Exercise price of warrants (in dollars per share) | $ / shares   $ 6.00   $ 6.00      
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   180,274      
Exercise price of warrants (in dollars per share) | $ / shares $ 5.89 $ 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
Fixed interest rate (as a percent)   9.00%   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 | 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%)