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Debt - Additional Information (Details) - USD ($)
1 Months Ended 6 Months Ended
Feb. 19, 2019
Jun. 30, 2017
Jun. 30, 2019
May 03, 2019
Dec. 31, 2018
Jul. 18, 2018
Jun. 30, 2018
Debt Instrument [Line Items]              
Outstanding debt     $ 0   $ 0    
Credit Agreement              
Debt Instrument [Line Items]              
Maximum borrowing capacity       $ 50,000,000.0      
Second Amendment To Restated 2014 Loan and Security Agreement              
Debt Instrument [Line Items]              
Minimum current ratio required under financial covenant   1.25%          
Second Amendment To Restated 2014 Loan and Security Agreement | LIBOR              
Debt Instrument [Line Items]              
Basis spread on variable rate   2.75%          
Second Amendment To Restated 2014 Loan and Security Agreement | Prime Rate              
Debt Instrument [Line Items]              
Basis spread on variable rate   1.00%          
Morgan Stanley Senior Funding, Inc | Credit Agreement              
Debt Instrument [Line Items]              
Adjusted quick ratio     1.00%        
Morgan Stanley Senior Funding, Inc | Credit Agreement | Term Loan A Facility              
Debt Instrument [Line Items]              
Maximum borrowing capacity $ 100,000,000.0            
Debt instrument term, years 4 years            
Debt instrument, amortization description Loans under the Term Loan A Facility will amortize in equal quarterly installments beginning on the last day of the fiscal quarter ending after the date of the initial borrowing under the Term Loan A Facility, in an aggregate annual amount equal to (i) on or prior to December 31, 2021, 1.25% of the drawn principal amount of the Term Loan Facility and (ii) thereafter, 2.50% of the drawn principal amount of the Term Loan Facility, with any remaining balance payable on the maturity date of the Term Loan A Facility.            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Term Loan A Facility | On or Prior to December 31, 2021              
Debt Instrument [Line Items]              
Percentage of amortization on drawn principal amount 1.25%            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Term Loan A Facility | Thereafter December 31, 2021              
Debt Instrument [Line Items]              
Percentage of amortization on drawn principal amount 2.50%            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Revolving Credit Facility              
Debt Instrument [Line Items]              
Maximum borrowing capacity $ 100,000,000.0            
Debt instrument term, years 4 years            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Revolving Credit Facility | Term Loan A Facility              
Debt Instrument [Line Items]              
Maximum borrowing capacity $ 25,000,000.0            
Interest payments description Loans under the Credit Facility bear interest at a rate equal to, at the Company’s election, (i) an alternate base rate, based upon the highest of (x) the prime rate published by the Wall Street Journal, (y) the federal funds effective date plus ½ of 1% and (z) the one-month LIBOR plus 1%, in each case plus an applicable margin of up to 1% per annum, with step-downs based on its secured leverage ratio or (2) an adjusted one-, two-, three-, or six month LIBOR, at its election, plus an applicable margin of up to 2% per annum, with step-downs based on its secured leverage ratio.            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Revolving Credit Facility | Term Loan A Facility | Federal Funds Effective Rate              
Debt Instrument [Line Items]              
Basis spread on variable rate 0.50%            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Revolving Credit Facility | Term Loan A Facility | One-month LIBOR              
Debt Instrument [Line Items]              
Basis spread on variable rate 1.00%            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Revolving Credit Facility | Term Loan A Facility | Maximum              
Debt Instrument [Line Items]              
Applicable margin with step-downs based on secured leverage ratio 1.00%            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Revolving Credit Facility | Term Loan A Facility | Maximum | Adjusted One-, Two-, Three-, or Six Month LIBOR              
Debt Instrument [Line Items]              
Applicable margin with step-downs based on secured leverage ratio 2.00%            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Uncommitted Incremental Facility              
Debt Instrument [Line Items]              
Maximum borrowing capacity $ 50,000,000.0            
Debt to company's EBITDA, description 1.0x of the Company’s EBITDA for the most recently completed four fiscal quarter period            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Uncommitted Incremental Facility | Maximum              
Debt Instrument [Line Items]              
Secured leverage ratio 1.50%            
Silicon Valley Bank | Restated 2014 LSA              
Debt Instrument [Line Items]              
Maximum borrowing capacity     $ 5,000,000.0        
Silicon Valley Bank | Restated 2014 LSA | Revolving Credit Facility              
Debt Instrument [Line Items]              
Maximum borrowing capacity     $ 30,000,000.0        
Silicon Valley Bank | Third Amendment To Restated 2014 Loan and Security Agreement              
Debt Instrument [Line Items]              
Maximum borrowing capacity             $ 5,000,000.0
Maximum borrowing capacity           $ 30,000,000.0