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Debt - Summary of Composition of Debt (Details) - USD ($)
$ in Thousands
Dec. 31, 2018
Dec. 31, 2017
Debt Disclosure [Abstract]    
Outstanding principal $ 30,000 $ 30,000
Accrued final payment fees 1,468 940
Less debt discounts (1,073) (1,384)
Total long-term debt, net 30,395 29,556
Long-term debt, net $ 30,395 $ 29,556