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Debt (Details)
12 Months Ended
Dec. 06, 2017
USD ($)
installment
Dec. 31, 2017
USD ($)
Dec. 31, 2016
USD ($)
Dec. 31, 2015
USD ($)
Debt Instrument [Line Items]        
Loss on extinguishment of debt   $ 860,000 $ 0 $ 0
SVB and MidCap        
Debt Instrument [Line Items]        
Weighted average interest rate   8.32%    
Final interest payment due upon maturity   3.60%    
SVB and MidCap | Debt financing agreement        
Debt Instrument [Line Items]        
Maximum borrowing capacity (up to) $ 25,000,000.0      
SVB and MidCap | Debt financing agreement | Revolving credit facility | Line of credit        
Debt Instrument [Line Items]        
Revolving line of credit, borrowing capacity (up to) 10,000,000.0      
Line of credit, current   $ 2,500,000    
Remaining borrowing capacity   7,500,000    
SVB and MidCap | Term loan        
Debt Instrument [Line Items]        
Debt instrument, face amount $ 15,000,000.0      
Short-term bank loans and notes payable   $ 15,000,000    
SVB and MidCap | Term loan | Prime Rate        
Debt Instrument [Line Items]        
Basis spread on variable rate 4.25%      
Number of installments | installment 36      
SVB and MidCap | Term loan | Prime Rate | Minimum        
Debt Instrument [Line Items]        
Basis spread on variable rate 1.25%