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Term Loan Payable (Details)
$ in Thousands
1 Months Ended 9 Months Ended
Nov. 30, 2018
Sep. 30, 2019
USD ($)
Aug. 28, 2012
USD ($)
Loan and Security Agreements      
Maximum borrowing capacity     $ 1,000
New Term Loan | Silicon Valley Bank Loan Agreement Consent and Sixth Amendment      
Loan and Security Agreements      
Original principal amount   $ 11,500  
Variable interest rate margin (as a percent)   0.75%  
Final payment fee   $ 719  
Minimum liquidity ratio 1.5 1.0  
Additional interest rate in event of default   5.0  
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