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Long-Term Debt - SVB Loan Agreement (Details) - USD ($)
$ in Thousands
1 Months Ended 12 Months Ended
Oct. 31, 2016
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Line of Credit Facility [Line Items]        
Unamortized discount   $ 317 $ 226  
Loss on extinguishment of debt   $ (566) (229) $ 0
SVB Loan Agreement        
Line of Credit Facility [Line Items]        
Variable interest rate 5.50%      
Repayments of debt $ 4,700      
Interest expense     $ 484 $ 490
Effective interest rate     11.80% 12.00%
Interest rate applicable to borrowings 10.75%      
SVB Loan Agreement | Minimum        
Line of Credit Facility [Line Items]        
Variable interest rate 3.50%      
Term Loan A | SVB Loan Agreement        
Line of Credit Facility [Line Items]        
Unamortized discount $ 6,000