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Debt - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 19, 2018
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Debt Instrument [Line Items]        
Repayments of debt   $ 0 $ 17,532 $ 7,151
Loss on extinguishment of debt   $ 0 838 860
SVB and MidCap | Term loan        
Debt Instrument [Line Items]        
Repayments of debt $ 17,100      
Pre-payment premium (as a percent) 1.50%      
Payment for debt extinguishment or debt prepayment cost $ 200      
Stated percentage for final payment (as a percent) 3.60%      
Debt instrument final payment $ 500      
Loss on extinguishment of debt     $ 800 $ 900