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Fair Value Measurements - Recurring Basis (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2018
Jun. 30, 2017
Jun. 30, 2018
Jun. 30, 2017
Jun. 30, 2018
Dec. 31, 2017
Liabilities that are measured at fair value on a recurring basis            
Warrants $ 302   $ 397   $ 302 $ 397
Change in the estimated fair value of warrant liabilities            
Balance at December 31, 2017     397      
Increase in fair value 37 $ (441) 2,944 $ (548)    
Warrant exercise     0 $ (38,389)    
Balance at June 30, 2018 302   302      
Silicon Valley Bank | Debt Financing Agreement and Term Loan            
Change in the estimated fair value of warrant liabilities            
Debt instrument, fair value         17,300 17,300
Warrants            
Liabilities that are measured at fair value on a recurring basis            
Warrants 1,549   1,014   1,549 1,014
Change in the estimated fair value of warrant liabilities            
Balance at December 31, 2017     1,014      
Increase in fair value     2,944      
Warrant exercise     (2,409)      
Balance at June 30, 2018 1,549   1,549      
Warrants | Recurring            
Liabilities that are measured at fair value on a recurring basis            
Warrants 1,549   1,014   1,549 1,014
Change in the estimated fair value of warrant liabilities            
Balance at December 31, 2017     1,014      
Balance at June 30, 2018 1,549   1,549      
Warrants | Recurring | Level 1            
Liabilities that are measured at fair value on a recurring basis            
Warrants 0   0   0 0
Change in the estimated fair value of warrant liabilities            
Balance at December 31, 2017     0      
Balance at June 30, 2018 0   0      
Warrants | Recurring | Level 2            
Liabilities that are measured at fair value on a recurring basis            
Warrants 1,549   1,014   1,549 1,014
Change in the estimated fair value of warrant liabilities            
Balance at December 31, 2017     1,014      
Balance at June 30, 2018 1,549   1,549      
Warrants | Recurring | Level 3            
Liabilities that are measured at fair value on a recurring basis            
Warrants 0   0   $ 0 $ 0
Change in the estimated fair value of warrant liabilities            
Balance at December 31, 2017     0      
Balance at June 30, 2018 $ 0   $ 0