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Fair Value of Financial Instruments - Rollforward of Level 3 Liabilities (Details) - Significant Unobservable Inputs (Level 3) - Warrant Liability - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2018
Jun. 30, 2017
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]    
Beginning balance $ 7,472 $ 3,367
Change in fair value of warrant liability included in earnings (529) 177
Issuance of common stock on warrant exercise (552) 0
Ending balance $ 6,391 $ 3,544