Quarterly report pursuant to Section 13 or 15(d)

Long-Term Debt and Other Financings - Silicon Valley Bank Loan Agreement (Details)

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Long-Term Debt and Other Financings - Silicon Valley Bank Loan Agreement (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 6 Months Ended 12 Months Ended
Mar. 04, 2019
May 07, 2018
Jun. 30, 2021
Sep. 30, 2018
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2019
Dec. 31, 2020
Long-term debt                    
Current portion of long-term debt                   $ 8,088
Long-term debt                   $ 12,764
Loss on extinguishment of debt         $ (300)   $ (300)      
Common stock warrant, Exercise price $23.69 per share, Issued May 2018                    
Long-term debt                    
Exercise price of per share (in dollars per share)     $ 23.69   $ 23.69   $ 23.69     $ 23.69
Common stock warrant, Exercise price $14.71 per share, Issued March 2019                    
Long-term debt                    
Exercise price of per share (in dollars per share)     $ 14.71   $ 14.71   $ 14.71     $ 14.71
Silicon Valley Bank Loans                    
Long-term debt                    
Maximum borrowing capacity under loan agreement   $ 20,000                
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                
Amount of loan that may be reborrowed after repayment   $ 0                
Repayments of debt     $ 6,500              
Final payment fee (as a percent)   8.50% 8.50%   8.50%   8.50%      
Final payment fee     $ 1,400              
Prepayment fee (as a percent)     1.00%   1.00%   1.00%      
Debt issuance costs   $ 200                
Non-cash interest expense resulting from amortization of discount and accretion of final payment         $ 100 $ 200 $ 200 $ 400    
Debt amount     $ 0   0   0     $ 11,800
Current portion of long-term debt                   8,100
Long-term debt                   $ 3,700
Loss on extinguishment of debt         $ 300   $ 300      
Silicon Valley Bank Loans | Minimum                    
Long-term debt                    
Interest rate (as a percent)   4.75%                
Silicon Valley Bank Loans | 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 per share (in dollars per share)   $ 23.69                
Exercisable period of warrants   10 years                
Fair value of warrant   $ 100                
Silicon Valley Bank Loans | 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 per share (in dollars per share) $ 14.71                  
Exercisable period of warrants 10 years                  
Fair value of warrant $ 100                  
Silicon Valley Bank Loans | Prime Rate                    
Long-term debt                    
Basis spread on variable rate   0.25%                
Silicon Valley Bank, First Term Loan                    
Long-term debt                    
Proceeds from issuance of long-term debt       $ 7,500            
Unamortized discount       $ 300            
Silicon Valley Bank, Second Term Loan                    
Long-term debt                    
Proceeds from issuance of long-term debt                 $ 9,500  
Unamortized discount                 $ 45