Debt - Narrative (Details) - USD ($)	1 Months Ended		3 Months Ended
	May 31, 2019	Jan. 31, 2019	Mar. 31, 2020	Mar. 31, 2019	Nov. 03, 2017
Debt Instrument [Line Items]
Repayments of long-term debt			$ 0	$ 12,500,000
Line of credit
Debt Instrument [Line Items]
Long-term debt			1,300,000
Silicon Valley Bank | Line of credit
Debt Instrument [Line Items]
Maximum borrowing capacity					$ 35,000,000.0
Liquidity requirement, minimum			$ 40,000,000.0
Secured debt | Silicon Valley Bank | Line of credit
Debt Instrument [Line Items]
Maximum borrowing capacity					25,000,000.0
Effective interest rate (as a percent)			5.80%
Balloon payment to be paid					1,200,000
Secured debt | Silicon Valley Bank | Line of credit | London Interbank Offered Rate (LIBOR)
Debt Instrument [Line Items]
Basis spread on variable rate			4.20%
Secured debt | Silicon Valley Bank | Line of credit | London Interbank Offered Rate (LIBOR) | Minimum
Debt Instrument [Line Items]
Interest rate (as a percent)			5.43%
Revolving credit facility | Silicon Valley Bank | Line of credit
Debt Instrument [Line Items]
Maximum borrowing capacity					$ 10,000,000.0
Repayments of long-term debt	$ 12,400,000	$ 12,500,000
Revolving credit facility | Silicon Valley Bank | Line of credit | London Interbank Offered Rate (LIBOR)
Debt Instrument [Line Items]
Basis spread on variable rate			3.50%
Revolving credit facility | Silicon Valley Bank | Line of credit | London Interbank Offered Rate (LIBOR) | Minimum
Debt Instrument [Line Items]
Interest rate (as a percent)			4.70%
Debt prepayment tranche one | Revolving credit facility | Silicon Valley Bank | Line of credit | London Interbank Offered Rate (LIBOR)
Debt Instrument [Line Items]
Prepayment premium			$ 750,000
Debt prepayment tranche two | Revolving credit facility | Silicon Valley Bank | Line of credit | London Interbank Offered Rate (LIBOR)
Debt Instrument [Line Items]
Prepayment premium			500,000
Debt prepayment tranche three | Revolving credit facility | Silicon Valley Bank | Line of credit | London Interbank Offered Rate (LIBOR)
Debt Instrument [Line Items]
Prepayment premium			$ 250,000