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Debt (Details)
12 Months Ended
Dec. 19, 2018
USD ($)
Dec. 06, 2017
USD ($)
installment
Dec. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
Dec. 31, 2016
USD ($)
Debt Instrument [Line Items]          
Repayments of Debt     $ 17,532,000 $ 7,151,000 $ 38,000
Loss on extinguishment of debt     $ 838,000 860,000 $ 0
SVB and MidCap | Debt financing agreement | Revolving credit facility | Line of credit          
Debt Instrument [Line Items]          
Revolving line of credit, borrowing capacity (up to)   $ 10,000,000.0      
SVB and MidCap | Term loan          
Debt Instrument [Line Items]          
Debt instrument, face amount   $ 15,000,000.0      
Repayments of Debt $ 17,100,000        
Pre-Payment Premium (as a percent) 1.50%        
Payment for Debt Extinguishment or Debt Prepayment Cost $ 200,000        
Stated percentage for final payment 3.60%        
Debt instrument final payment $ 500,000        
Loss on extinguishment of debt $ 800,000     $ (900,000)  
SVB and MidCap | Term loan | Prime Rate          
Debt Instrument [Line Items]          
Basis spread on variable rate   4.25%      
Number of installments | installment   36      
SVB and MidCap | Term loan | Prime Rate | Minimum          
Debt Instrument [Line Items]          
Basis spread on variable rate   1.25%