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Notes Payable - Narrative (Details) - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2018
Nov. 30, 2017
Apr. 30, 2015
Notes Payable to Banks | Prime Rate      
Debt Instrument [Line Items]      
Interest rate at period end 5.25%    
2017 SVB Loan Agreement | Notes Payable to Banks      
Debt Instrument [Line Items]      
Face amount   $ 10.0  
Repayment period 30 months    
Interest-only period 18 months    
Final payment fee $ 0.9    
2015 SVB Loan Agreement      
Debt Instrument [Line Items]      
Interest margin in event of default 5.00%    
2015 SVB Loan Agreement | Notes Payable to Banks      
Debt Instrument [Line Items]      
Face amount     $ 5.0
Repayment period 30 months    
Interest-only period 18 months    
Final payment fee percent     5.50%
Loss on debt extinguishment $ 0.1    
2015 SVB Loan Agreement | Notes Payable to Banks | Prime Rate      
Debt Instrument [Line Items]      
Variable rate (0.25%)