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Loan and Security Agreement - Additional Information (Details)
1 Months Ended 12 Months Ended
Jul. 25, 2019
installment
Mar. 31, 2019
USD ($)
tranche
Nov. 30, 2018
USD ($)
Nov. 30, 2016
USD ($)
tranche
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
Repayment of principal on term loan         $ 7,238,889 $ 3,333,333 $ 277,778
Interest expense           751,670 869,678
Amortization of debt issuance costs           $ 266,668 $ 346,978
Term Loan              
Maximum loan amount       $ 20,000,000      
Number of loan tranches | tranche       3      
Interest rate basis       3.50%      
Interest rate spread       3.50%      
Final payment fee, percent of principal       8.50%      
Final payment fee   $ 850,000          
Prepayment premium, percent of principal, if prepaid within two years       3.00%      
Prepayment premium, condition one, term       2 years      
Prepayment premium, percent of principal, if prepaid during the third year       2.00%      
Prepayment premium, percent of principal, if prepaid after third year       1.00%      
Base interest rate       4.50%      
Interest expense         1,362,500    
Amortization of debt issuance costs         $ 436,567    
2019 Term Loan              
Maximum loan amount   $ 24,000,000          
Number of loan tranches | tranche   2          
Interest-only payment period 18 months 12 months          
Number of monthly installments | installment 30            
Interest rate basis 7.50% 7.50%          
Interest rate spread 7.50% 7.50%          
Final payment fee, percent of principal 6.30% 6.00%          
Prepayment premium, percent of principal, if prepaid within one year 3.00% 3.00%          
Prepayment premium, percent of principal, if prepaid during the second year 2.00% 2.00%          
Prepayment premium, percent of principal, if prepaid after second year 1.00% 1.00%          
2019 Term Loan | Milestone Met              
Number of monthly installments | installment 24            
2019 Term Loan | Prime Rate              
Interest rate basis 2.00% (2.00%)          
Interest rate spread 2.00% (2.00%)          
Term Loan 2019, Tranche One              
Loan amount   $ 20,000,000          
Final payment fee   850,000          
Repayment of principal on term loan   5,600,000          
Term Loan 2019, Tranche Two              
Remaining credit facility to be drawn   $ 4,000,000          
Interest only payment period after drawing of second tranche 24 months 18 months          
Term Loan 2016, Tranche One              
Loan amount       $ 10,000,000      
Term Loan 2016, Tranche Three              
Maximum loan amount       5,000,000      
Term Loan 2016, Tranche Two and Three              
Maximum loan amount       $ 10,000,000      
Number of loan tranches | tranche       2      
Loan amount       $ 5,000,000      
Growth Capital Loan              
Loan amount     $ 4,000,000        
Maximum | Growth Capital Loan | Prime Rate              
Interest rate basis     2.00%        
Interest rate spread     2.00%        
Base interest rate     7.25%