Debt Obligations - Narrative (Details) - USD ($)			1 Months Ended
	Jul. 01, 2020	Jun. 17, 2016	Dec. 31, 2014	Jul. 31, 2012	Jul. 31, 2011	Jun. 30, 2011	Dec. 31, 2016	Dec. 31, 2015	Dec. 31, 2012	Jul. 27, 2012
Debt Instrument [Line Items]
Shares of common stock exercisable through warrants				1,973,025
Warrants exercise price (in usd per share)										$ 20.00
Term of common stock warrant exercisable				5 years	10 years
Imputed interest on working capital advance							$ 1,176,000
Note payable, current, carrying value							3,267,000	$ 0
Outstanding balance							$ 18,824,000
Oxford/SVB [Member]
Debt Instrument [Line Items]
Shares of common stock exercisable through warrants			63,559			3,306
Warrants exercise price (in usd per share)						$ 30.24	$ 9.44	$ 9.44
Term of common stock warrant exercisable			10 years			7 years
Imputed interest on working capital advance								$ 558,000	$ 76,000
Revolving Credit Facility [Member]
Debt Instrument [Line Items]
Revolving credit facility							$ 4,000,000
Loan And Security Agreement [Member] | Silicon Valley Bank [Member]
Debt Instrument [Line Items]
Deposit account percent of account balances			85.00%
Second Amendment [Member] | Revolving Credit Facility [Member]
Debt Instrument [Line Items]
End of term fee due under revolving credit facitily		$ 64,000
Term Loan [Member] | Loan And Security Agreement [Member]
Debt Instrument [Line Items]
Revolving credit facility							$ 20,000,000
Interest rate (percent)							8.75%
Deposit account percent of account balances		50.00%
Collateral account balance, covenant compliance amount		$ 50,000,000
End of term fee due under the Loan Agreement		$ 1,000,000
Term Loan [Member] | Loan And Security Agreement [Member] | Prime Rate [Member]
Debt Instrument [Line Items]
Basis spread on variable rate (percent)			5.25%
Term Loan [Member] | Second Amendment [Member]
Debt Instrument [Line Items]
Interest rate (percent)		7.00%
Prepayment penalty		$ 200,000
Term Loan [Member] | Second Amendment [Member] | Prime Rate [Member]
Debt Instrument [Line Items]
Basis spread on variable rate (percent)		3.25%
Endo Ventures Supply Agreement [Member]
Debt Instrument [Line Items]
Imputed interest on working capital advance							$ 4,748,000
Endo Ventures Supply Agreement [Member] | Notes Payable, Other Payables [Member]
Debt Instrument [Line Items]
Revolving credit facility							7,000,000
Outstanding balance								$ 2,835,000
Endo Ventures Supply Agreement [Member] | Minimum [Member]
Debt Instrument [Line Items]
Term of agreement			8 years
Notes Payable, Other Payables [Member] | Endo Ventures Supply Agreement [Member]
Debt Instrument [Line Items]
Note payable, current, carrying value							$ 3,267,000
Subsequent Event [Member] | Term Loan [Member] | Second Amendment [Member]
Debt Instrument [Line Items]
End of term fee due under the Loan Agreement	$ 1,350,000