Long-Term Debt - Schedule of Long-Term Debt (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Debt Disclosure [Abstract]
Long-term debt	$ 20,000	$ 10,000
Less: Current portion of long-term debt	0	(1,687)
Long-term debt, net of current portion	20,000	8,313
Debt discount, net of accretion	(317)	(226)
Cumulative accretion of final payment due at maturity	414	58
Long-term debt, including accretion, net of discount and current portion	$ 20,097	$ 8,145