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Notes Payable - Additional Information (Details) - Credit Agreement
$ in Thousands
1 Months Ended 12 Months Ended
Aug. 02, 2019
USD ($)
Aug. 01, 2019
USD ($)
Dec. 31, 2018
USD ($)
installment
Dec. 31, 2019
USD ($)
Notes Payable        
Borrowing capacity under the agreement       $ 25,000
Borrowings outstanding     $ 25,000 25,000
Repayments of debt, Principal       25,000
Number of equal monthly installments | installment     36  
Outstanding borrowings under credit facility, net of unamortized discount     $ 25,000  
Final payment due (as a percent)     3.50%  
Additional final payment     $ 875 875
Minimum cash in hand as a financial covenant $ 5,000 $ 5,000   5,000
2021        
Notes Payable        
Required monthly principal payment     694  
Repayments of debt, Principal       $ 8,333
Achievement of certain milestones        
Notes Payable        
Repayments of debt, Principal     $ 1,042  
Number of equal monthly installments | installment     24  
LIBOR        
Notes Payable        
Borrowings outstanding     $ 25,000  
Effective annual interest rate (as a percent)     9.76%  
Interest rate floor (as a percent)     2.00%  
Basis spread (as a percent)     7.25%