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Long-term debt - Senior Debt (Details)
1 Months Ended 12 Months Ended
May 11, 2016
USD ($)
Jul. 22, 2015
$ / shares
shares
Sep. 25, 2014
USD ($)
$ / shares
shares
Mar. 28, 2014
USD ($)
item
$ / shares
shares
May 31, 2016
Jun. 30, 2015
USD ($)
Mar. 31, 2015
USD ($)
Dec. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
Dec. 31, 2016
USD ($)
Sep. 30, 2014
Mar. 31, 2014
Long-term debt                        
Loss on debt extinguishment                   $ (1,187,000)    
Debt discount amortization               $ 961,000 $ 1,316,000 406,000    
Senior debt (Hercules LSA)                        
Long-term debt                        
Maximum borrowing capacity per agreement       $ 25,000,000                
Number of draws available per debt agreement | item       4                
Term of interest and principal payments, which commence at a later date         30 months              
LSA end of term fee due upon prepayment or repayment       $ 1,100,000                
Payments of end of term fee $ 1,100,000                      
End of term charge amortization                   121,000    
Loss on debt extinguishment                   1,187,000    
Debt discount amortization                   $ 104,000    
Senior debt (Hercules LSA) | Tranche 1                        
Long-term debt                        
Draws from senior debt note       $ 10,000,000                
Interest rate (as a percent)                       9.00%
Senior debt (Hercules LSA) | Tranche 1 | Series C Warrants Issued with Senior Debt                        
Long-term debt                        
Warrants issued (in shares) | shares       60,000                
Exercise price (in dollars per share) | $ / shares       $ 5.00                
Senior debt (Hercules LSA) | Tranche 2                        
Long-term debt                        
Draws from senior debt note     $ 5,000,000                  
Interest rate (as a percent)                     10.50%  
Senior debt (Hercules LSA) | Tranche 2 | Series C Warrants Issued with Senior Debt                        
Long-term debt                        
Warrants issued (in shares) | shares     110,000                  
Exercise price (in dollars per share) | $ / shares     $ 5.00                  
Senior debt (Hercules LSA) | Tranche 3                        
Long-term debt                        
Draws from senior debt note             $ 5,000,000          
Interest rate (as a percent)             10.50%          
Senior debt (Hercules LSA) | Tranche 4                        
Long-term debt                        
Draws from senior debt note           $ 5,000,000            
Interest rate (as a percent)           9.00%            
Conversion, initial public offering | Common Stock Warrants                        
Long-term debt                        
Warrants issued (in shares) | shares   70,833                    
Exercise price (in dollars per share) | $ / shares   $ 12.00                    
Warrants Term   5 years