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Debt (Details)
1 Months Ended
May 03, 2019
USD ($)
Apr. 09, 2019
USD ($)
Jun. 22, 2016
USD ($)
Jun. 17, 2016
number_of_payment
Mar. 31, 2019
USD ($)
Nov. 30, 2018
USD ($)
Jun. 30, 2020
USD ($)
Apr. 23, 2020
USD ($)
May 07, 2019
USD ($)
Debt Instrument [Line Items]                  
Upfront payment received         $ 1,800,000 $ 2,500,000      
PPP loan               $ 700,000  
Forgiveness Amount Threshold               $ 500,000  
Debt Financing Agreement                  
Debt Instrument [Line Items]                  
Stated interest rate, percentage       8.51%          
Number of monthly payments | number_of_payment       24          
Long-term debt             $ 14,700,000    
Debt fee             1,900,000    
Debt issuance costs             $ 100,000    
Debt instrument effective rate             8.98%    
Debt Financing Agreement | London Interbank Offered Rate (LIBOR)                  
Debt Instrument [Line Items]                  
Basis spread on variable rate, percentage       0.44%          
Debt Financing Agreement Tranche A                  
Debt Instrument [Line Items]                  
Proceeds from borrowing under term loan     $ 20,000,000.0            
Long-term debt             $ 14,681,000    
Fourth Amendment                  
Debt Instrument [Line Items]                  
Notice for prepayment           10 days      
Prepayment requirement           25.00%      
Potential revenue through milestone payments           $ 10,000,000.0      
Prepayment requirement of loan from license fees amount         $ 400,000 $ 600,000      
Payment fee           5.50%      
Seventh Amendment                  
Debt Instrument [Line Items]                  
Minimum cash, debt covenant   $ 10,000,000              
Debt covenant, condition one   10,000,000.0              
Debt covenant, condition two   5,000,000.0              
Debt covenant, condition three   0              
Eight Amendment                  
Debt Instrument [Line Items]                  
Minimum cash, debt covenant                 $ 20,000,000.0
Interest only payment fee $ 100,000                
Maturity extension fee $ 700,000                
Eight Amendment - Milestone Payment                  
Debt Instrument [Line Items]                  
Minimum cash, debt covenant   10,000,000.0              
Minimum | Seventh Amendment                  
Debt Instrument [Line Items]                  
Prepayment requirement of loan from license fees amount   $ 5,000,000              
Prepayment requirement of loan from license fees   25.00%              
Minimum | Eight Amendment                  
Debt Instrument [Line Items]                  
Prepayment requirement of loan from license fees   75.00%              
Maximum | Seventh Amendment                  
Debt Instrument [Line Items]                  
Prepayment requirement of loan from license fees   75.00%              
Maximum | Eight Amendment                  
Debt Instrument [Line Items]                  
Prepayment requirement of loan from license fees   100.00%