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Term Loan Payable (Details)
$ in Thousands
3 Months Ended
Mar. 31, 2018
USD ($)
item
shares
Dec. 31, 2017
USD ($)
Aug. 31, 2012
USD ($)
Aug. 28, 2012
USD ($)
Loan and Security Agreements        
Maximum borrowing capacity       $ 1,000
Proceeds from term loan amendment, net of repayment of amended term loan $ 10,020      
Public offering of common stock, net of issuance costs (in shares) | shares 3,126,998      
2019 $ 1,642 $ 1,479    
Term loan | Silicon Valley Bank loan agreement | Prime        
Loan and Security Agreements        
Variable interest rate margin (as a percent) 2.25%      
Interest rate (as a percent)       5.50%
Term loan | Silicon Valley Bank loan agreement Amendment No. 2        
Loan and Security Agreements        
Maximum borrowing capacity     $ 8,000  
New Term Loan | Silicon Valley Bank Loan Agreement Consent and Sixth Amendment        
Loan and Security Agreements        
Original principal amount $ 11,500      
Threshold limit of EDITDA to repay principal and interest prior to specific date $ 2,500      
Number of consecutive calendar quarters to maintain threshold limit of EDITDA to repay principal and interest prior to specific date | item 2      
Final payment fee $ 719      
Minimum liquidity ratio 2.0      
Additional interest rate in event of default 5.0      
New Term Loan | Silicon Valley Bank Loan Agreement Consent and Sixth Amendment | Prime        
Loan and Security Agreements        
Variable interest rate margin (as a percent) 0.75%      
Variable rate basis prime rate      
Standby letter of credit | New Term Loan        
Loan and Security Agreements        
Maximum borrowing capacity $ 33,750      
Prior to first anniversary | New Term Loan | Silicon Valley Bank Loan Agreement Consent and Sixth Amendment        
Loan and Security Agreements        
Prepayment fee (as a percent) 3.0      
Between first anniversary and second anniversary | New Term Loan | Silicon Valley Bank Loan Agreement Consent and Sixth Amendment        
Loan and Security Agreements        
Prepayment fee (as a percent) 2.0      
Following second anniversary | New Term Loan | Silicon Valley Bank Loan Agreement Consent and Sixth Amendment        
Loan and Security Agreements        
Prepayment fee (as a percent) 1.0