Annual report pursuant to Section 13 and 15(d)

Long-Term Debt and Other Financings - SVB Loan (Details)

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Long-Term Debt and Other Financings - SVB Loan (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 12 Months Ended
Mar. 07, 2018
Jun. 30, 2021
Mar. 31, 2019
Sep. 30, 2018
May 31, 2018
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Long-term debt                
Current portion of long-term debt             $ 8,088  
Long-term debt             $ 12,764  
Loss on extinguishment of debt           $ (300)    
Ten Year Warrants Issued in May 2018                
Long-term debt                
Exercise price of warrants (in dollars per share)           $ 23.69 $ 23.69  
Common stock warrant, Exercise price $14.71 per share, Issued March 2019                
Long-term debt                
Exercise price of warrants (in dollars per share)           $ 14.71 $ 14.71  
SVB Loan                
Long-term debt                
Maximum borrowing capacity under loan agreement $ 20              
Period of monthly payments of principal and interest 24 months              
Maximum period following loan amortization date for which loan will mature 23 months              
Maximum period prior to loan maturity date of Novartis loan for which loan will mature 30 days              
Repayments of debt   $ 6,500            
Final payment fee (as a percent) 8.50% 8.50%            
Final payment fee   $ 1,400            
Prepayment fee (as a percent)   1.00%            
Exercisable period of warrants           10 years    
Debt issuance costs $ 200              
Non-cash interest expense resulting from amortization of discount and accretion           $ 200 $ 600  
Debt amount           0 11,800  
Current portion of long-term debt             8,100  
Long-term debt             $ 3,700  
Loss on extinguishment of debt           $ (300)    
SVB Loan | Minimum                
Long-term debt                
Interest rate (as a percent) 4.75%              
SVB Loan | Ten Year Warrants Issued in May 2018                
Long-term debt                
Aggregate number of shares of common stock called by warrants         6,332      
Exercise price of warrants (in dollars per share)         $ 23.69      
Exercisable period of warrants         10 years      
Fair value of warrant         $ 100      
SVB Loan | Common stock warrant, Exercise price $14.71 per share, Issued March 2019                
Long-term debt                
Aggregate number of shares of common stock called by warrants     4,845          
Exercise price of warrants (in dollars per share)     $ 14.71          
Exercisable period of warrants     10 years          
Fair value of warrant     $ 100          
SVB Loan | Common stock warrant, Exercise price $23.69 per share, Issued May 2018                
Long-term debt                
Aggregate number of shares of common stock called by warrants 6,332              
Exercise price of warrants (in dollars per share) $ 23.69              
Exercisable period of warrants 10 years              
Fair value of warrant $ 100              
SVB Loan | Prime Rate                
Long-term debt                
Basis spread on variable rate 0.25%              
SVB First Term Loan                
Long-term debt                
Proceeds from issuance of long-term debt       $ 7,500        
Unamortized discount       $ 300        
SVB Loan, Second Term Loan                
Long-term debt                
Proceeds from issuance of long-term debt               $ 9,500
Unamortized discount               $ 45,000