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Common Stock, warrants, stock-based compensation, stock options, restricted stock and restricted stock units - Stock-based award plans (Details) - shares
3 Months Ended
Jan. 01, 2019
Sep. 30, 2017
Mar. 31, 2017
Dec. 31, 2018
Dec. 31, 2017
Jun. 30, 2017
Dec. 31, 2016
Common Stock, warrants, stock-based compensation, stock options, restricted stock and restricted stock units              
Common stock available for future awards (in shares)       5,348,442 6,013,745    
2007 Plan              
Common Stock, warrants, stock-based compensation, stock options, restricted stock and restricted stock units              
Shares authorized under the plan (in shares)   4,350,035     1,042,314 3,852,213 3,229,935
Additional shares authorized   497,822 622,227        
Shares available for grant under the plan (in shares)       4,393 1,042,314    
Annual increase in the shares available for grant under the plan (as a percent of shares of common stock outstanding)       4.00%      
2017 Plan              
Common Stock, warrants, stock-based compensation, stock options, restricted stock and restricted stock units              
Additional shares authorized 895,169            
2017 ESPP              
Common Stock, warrants, stock-based compensation, stock options, restricted stock and restricted stock units              
Shares authorized under the plan (in shares)         208,463    
Shares available for grant under the plan (in shares)       425,533      
Annual increase in the shares available for grant under the plan (as a percent of shares of common stock outstanding)         1.00%    
Outstanding stock options              
Common Stock, warrants, stock-based compensation, stock options, restricted stock and restricted stock units              
Options outstanding (in shares)       2,476,911 2,249,843   1,119,671
Outstanding stock options | 2007 Plan              
Common Stock, warrants, stock-based compensation, stock options, restricted stock and restricted stock units              
Options outstanding (in shares)         2,249,843    
Common stock issued and outstanding pursuant to the exercise of options (in shares)         571,838    
Common stock available for future awards (in shares)         399,379    
Shares authorized under the plan (in shares)         2,490,290    
Restricted and unrestricted stock awards | 2007 Plan              
Common Stock, warrants, stock-based compensation, stock options, restricted stock and restricted stock units              
Common stock issued and outstanding pursuant to restricted or unrestricted stock awards (in shares)         1,128,975