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Debt and Convertible Preferred Stock Warrants - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Jul. 26, 2019
Jul. 31, 2019
Jun. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Jun. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2013
Debt Disclosure [Line Items]                      
Interest expense related to term loans       $ 100,000 $ 200,000   $ 600,000 $ 500,000      
Warrants outstanding       0     0        
Letter of Credit                      
Debt Disclosure [Line Items]                      
Deb maturity date                 Aug. 01, 2019    
Line of credit                 $ 1,500,000    
IPO                      
Debt Disclosure [Line Items]                      
Debt, success fee   $ 300,000                  
Series G Convertible Preferred Stock                      
Debt Disclosure [Line Items]                      
Debt, success fee     $ 100,000                
Series B Convertible Preferred Stock                      
Debt Disclosure [Line Items]                      
Outstanding preferred stock warrants exercised (in shares)       131,652     131,652        
Exercise price of warrants (in dollars per share)       $ 1.03     $ 1.03        
Series C Convertible Preferred Stock                      
Debt Disclosure [Line Items]                      
Outstanding preferred stock warrants exercised (in shares)       6,868     6,868        
Exercise price of warrants (in dollars per share)       $ 2.18     $ 2.18        
Series D Convertible Preferred Stock                      
Debt Disclosure [Line Items]                      
Outstanding preferred stock warrants exercised (in shares)       43,010     43,010        
Exercise price of warrants (in dollars per share)       $ 2.79     $ 2.79        
Series E Convertible Preferred Stock                      
Debt Disclosure [Line Items]                      
Outstanding preferred stock warrants exercised (in shares)       25,597     25,597        
Exercise price of warrants (in dollars per share)       $ 2.93     $ 2.93        
Convertible Preferred Stock                      
Debt Disclosure [Line Items]                      
Warrant term             10 years        
Term Loan Facility                      
Debt Disclosure [Line Items]                      
Maximum borrowing capacity                     $ 5,000,000
Increase in borrowing capacity             $ 11,600,000        
Debt instrument required covenants percentage on forecasted gross revenue             80.00%        
Debt, combined success fee                 $ 300,000    
Debt, additional success fee           $ 100,000          
Net cash proceeds from subordinated debt securities           $ 50,000,000          
Term Loans                      
Debt Disclosure [Line Items]                      
Long-term debt, gross                   $ 15,000,000  
Repayments on loans $ 6,500,000                    
Term Loan I                      
Debt Disclosure [Line Items]                      
Long-term debt, gross                   $ 7,500,000  
Deb maturity date                 Jan. 31, 2021 Jan. 31, 2019  
Number of equal monthly installments             30 equal monthly installments        
Variable annual interest rate                 0.35% 0.10%  
Term Loan II                      
Debt Disclosure [Line Items]                      
Long-term debt, gross                   $ 7,500,000  
Deb maturity date                   Jan. 01, 2020