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Long-Term Debt (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Mar. 27, 2019
Feb. 28, 2018
Feb. 28, 2017
Aug. 31, 2015
Mar. 31, 2019
Mar. 31, 2018
Mar. 26, 2019
Credit Facility              
Payment of debt issuance costs       $ 100 $ 531 $ 0  
Expected future principal payments              
2019 (remaining)         0    
2020         0    
2021         0    
2022         9,188    
2023         12,250    
Thereafter         3,062    
Total expected future principal payments         $ 24,500    
March 2019 Amendment to Loan and Security Agreement              
Credit Facility              
Final payment percentage 3.50%            
Series F convertible preferred stock              
Credit Facility              
Aggregate number of shares called by warrants (in shares)   233,577          
Period of warrants   10 years          
Exercise price (in dollars per share)   $ 1.37          
Series F convertible preferred stock | February 2017 Amendment to Loan and Security Agreement              
Credit Facility              
Aggregate number of shares called by warrants (in shares)     29,197        
Period of warrants     10 years        
Exercise price (in dollars per share)     $ 1.37        
Original credit facility              
Credit Facility              
Outstanding credit facility amount       $ 12,000      
Term loan facility              
Credit Facility              
Outstanding credit facility amount   $ 24,500          
Fixed interest rate on credit facility   7.95%   7.95%      
Final payment percentage             5.50%
Term loan facility | February 2017 Amendment to Loan and Security Agreement              
Credit Facility              
Outstanding credit facility amount     $ 16,500        
Fixed interest rate on credit facility     7.95%        
Variable interest rate on credit facility     6.90%        
Term loan facility | March 2019 Amendment to Loan and Security Agreement              
Credit Facility              
Variable interest rate on credit facility 5.10%            
Final payment percentage 3.50%            
Variable interest rate 2.50%            
Term loan facility | LIBOR              
Credit Facility              
Variable interest rate on credit facility   6.90%          
Term loan facility | Minimum | March 2019 Amendment to Loan and Security Agreement              
Credit Facility              
Basic interest rate 7.60%            
Prepayment fee 1.00%            
Term loan facility | Maximum | March 2019 Amendment to Loan and Security Agreement              
Credit Facility              
Prepayment fee 3.00%            
Term A loan facility              
Credit Facility              
Maximum borrowing amount under credit facility       $ 15,500      
Term A loan facility | February 2017 Amendment to Loan and Security Agreement              
Credit Facility              
Additional borrowing amount under credit facility     $ 1,000        
Net proceeds from credit facility     500        
Term B loan facility              
Credit Facility              
Additional borrowing amount under credit facility   $ 8,000          
Net proceeds from credit facility   $ 8,000          
Increase in interest rate in default         5.00%    
Term B loan facility | February 2017 Amendment to Loan and Security Agreement              
Credit Facility              
Outstanding credit facility amount     $ 9,000        
Term B loan facility | On or after March 27, 2019 but prior to March 27, 2020 / On or after March 27, 2020 but prior to March 27, 2021              
Credit Facility              
Prepayment fee     2.00%        
Term B loan facility | On or after March 27, 2020 / On or after March 27, 2021              
Credit Facility              
Prepayment fee     1.00%        
Term B loan facility | Prior to March 27, 2019 / Prior to March 27, 2020              
Credit Facility              
Prepayment fee     3.00%        
Term B loan facility | Minimum              
Credit Facility              
Outstanding credit facility amount       3,500      
Term B loan facility | Maximum              
Credit Facility              
Outstanding credit facility amount       $ 10,000