Debt - Additional Information (Details) - USD ($) $ / shares in Units, shares in Thousands | Feb. 28, 2017 | Mar. 31, 2017 | Sep. 30, 2018 | Sep. 30, 2017 | Sep. 30, 2018 | Sep. 30, 2017 | Dec. 31, 2017 |
Debt Instrument [Line Items] | | | | | | | |
Interest expense | | | $ 928,000 | $ 807,000 | $ 2,749,000 | $ 2,068,000 | |
Cash interest expense | | | 700,000 | 500,000 | 2,100,000 | 1,600,000 | |
Non-cash interest expense | | | 200,000 | $ 300,000 | $ 600,000 | $ 500,000 | |
Debt instrument, final payment fee | | $ 1,000,000 | | | | | |
$35.0 Million Credit Facility | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Percentage of forecasted revenue to be achieved | | | | | 75.00% | | |
$35.0 Million Credit Facility | Prepaid on or Before First Anniversary of Funding | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Prepayment fees percentage | | | | | 3.00% | | |
$35.0 Million Credit Facility | Prepaid After First and on or Before Second Anniversary of Funding | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Prepayment fees percentage | | | | | 2.00% | | |
$35.0 Million Credit Facility | Prepaid After Second Anniversary of Funding | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Prepayment fees percentage | | | | | 1.00% | | |
$35.0 Million Credit Facility | Oxford Finance LLC | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Line of credit facility, maximum borrowing capacity | $ 25,000,000 | 35,000,000 | | | | | |
Borrowings outstanding under credit facility | | | $ 30,000,000 | | $ 30,000,000 | | |
Available borrowing achievement of trailing twelve month revenues | | 45,000,000 | | | | | |
Debt instrument, interest rate | | | 8.15% | | 8.15% | | |
Warrants term | | | 7 years | | 7 years | | |
Percentage of borrowing capacity of tranche | | | | | 3.95% | | |
Borrowing capacity of tranche | | | $ 5,000,000 | | $ 5,000,000 | | |
Credit facility maturity date | | | | | Mar. 1, 2022 | | |
$35.0 Million Credit Facility | Oxford Finance LLC | LIBOR | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Debt instrument, description of variable rate basis | | | | | 30 day U.S. LIBOR | | |
Basis spread on variable rate | | | | | 7.38% | | |
$35.0 Million Credit Facility | Term A Loan | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Interest-only period | | | | | 2019-03 | | |
Amortization period without interest-only period extension | | | | | 36 months | | |
Extension of interest-only period upon achievement of revenues | | | | | 12 months | | |
Interest-only period upon achievement of revenues | | | | | 2020-03 | | |
Amortization period upon extension of interest-only period | | | | | 24 months | | |
Final payment fees percentage | | | | | 8.00% | | |
Increase in final payment fees percentage upon extension interest only periods | | | | | 8.50% | | |
Effective interest rates | | | 10.70% | | 10.70% | | 10.70% |
$35.0 Million Credit Facility | Term A Loan | Common Stock | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Warrants to purchase shares | | | 20,303 | | 20,303 | | |
Warrants, exercise price | | | $ 9.73 | | $ 9.73 | | |
Warrants expiration period | | | | | 2024-03 | | |
$35.0 Million Credit Facility | Term A Loan | Oxford Finance LLC | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Borrowings outstanding under credit facility | | 25,000,000 | | | | | |
$35.0 Million Credit Facility | Term B Loan | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Interest-only period | | | | | 2019-03 | | |
Amortization period without interest-only period extension | | | | | 36 months | | |
Extension of interest-only period upon achievement of revenues | | | | | 12 months | | |
Interest-only period upon achievement of revenues | | | | | 2020-03 | | |
Amortization period upon extension of interest-only period | | | | | 24 months | | |
Final payment fees percentage | | | | | 7.00% | | |
Increase in final payment fees percentage upon extension interest only periods | | | | | 7.50% | | |
Effective interest rates | | | 11.60% | | 11.60% | | 11.60% |
$35.0 Million Credit Facility | Term B Loan | Common Stock | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Warrants to purchase shares | | | 20,303 | | 20,303 | | |
Warrants, exercise price | | | $ 9.73 | | $ 9.73 | | |
Warrants expiration period | | | | | 2024-12 | | |
$35.0 Million Credit Facility | Term B Loan | Oxford Finance LLC | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Borrowings outstanding under credit facility | | 5,000,000 | | | | | |
$35.0 Million Credit Facility | Term C Loan | Oxford Finance LLC | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Line of credit facility, current borrowing capacity | | $ 5,000,000 | | | | | |
Notification period for lenders to borrow loan upon achieving required revenue milestone | | | | | 60 days | | |
Line of credit facility additional borrowing capacity | | | $ 5,000,000 | | $ 5,000,000 | | |
$25.0 Million Credit Facility | Oxford Finance LLC | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Line of credit facility, maximum borrowing capacity | $ 25,000,000 | | | | | | |
$25.0 Million Credit Facility | Term A Loan | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Final payment fees percentage | 8.50% | | | | | | |
$25.0 Million Credit Facility | Term A Loan | Minimum | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Debt instrument, accrued interest rate | 8.50% | | | | | | |
$25.0 Million Credit Facility | Term A Loan | Maximum | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Debt instrument, accrued interest rate | 8.90% | | | | | | |
$25.0 Million Credit Facility | Term A Loan | Oxford Finance LLC | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Borrowings outstanding under credit facility | $ 15,000,000 | | | | | | |
$25.0 Million Credit Facility | Term B Loan | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Final payment fees percentage | 4.70% | | | | | | |
$25.0 Million Credit Facility | Term B Loan | Minimum | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Debt instrument, accrued interest rate | 8.50% | | | | | | |
$25.0 Million Credit Facility | Term B Loan | Maximum | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Debt instrument, accrued interest rate | 8.90% | | | | | | |
$25.0 Million Credit Facility | Term B Loan | Oxford Finance LLC | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Borrowings outstanding under credit facility | $ 5,000,000 | | | | | | |
$25.0 Million Credit Facility | Term C Loan | Oxford Finance LLC | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Line of credit facility, current borrowing capacity | $ 5,000,000 | | | | | | |