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Debt - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Mar. 02, 2020
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Debt Instrument [Line Items]          
Repayment of long-term debt       $ 4,999 $ 0
Interest paid on debt   $ 0 $ 152 $ 142 $ 301
Loans Payable | Secured Debt | Hercules Technology Growth Capital          
Debt Instrument [Line Items]          
Repayment of long-term debt $ 4,999        
Payments for debt end term fees $ 100