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Debt - Additional Information (Details) - USD ($)
1 Months Ended
Oct. 31, 2018
Dec. 31, 2015
Dec. 31, 2020
Dec. 31, 2019
Debt Instrument [Line Items]        
Weighted average interest rate     4.25% 4.58%
Pharmakon Loan Agreement        
Debt Instrument [Line Items]        
Repayment of debt $ 35,800,000      
SVB Loan Agreement        
Debt Instrument [Line Items]        
Maximum borrowing capacity   $ 15,000,000.0    
SVB Loan Agreement | Maximum        
Debt Instrument [Line Items]        
Percentage of eligible accounts receivable for borrowings   80.00%    
SVB Loan Agreement | Prime Rate        
Debt Instrument [Line Items]        
Interest rate spread (as a percent)   0.25%    
Third Amended and Restated SVB Loan Agreement | Standby Letters of Credit        
Debt Instrument [Line Items]        
Maximum borrowing capacity 11,000,000.0      
Proceeds from line of credit 6,900,000      
Third Amended and Restated SVB Loan Agreement | SVB Term Loan        
Debt Instrument [Line Items]        
Maximum borrowing capacity $ 35,000,000.0      
Number of monthly payments of principal and interest 36 months      
Third Amended and Restated SVB Loan Agreement | SVB Term Loan | Minimum        
Debt Instrument [Line Items]        
Interest rate 4.25%      
Third Amended and Restated SVB Loan Agreement | SVB Term Loan | Prime Rate        
Debt Instrument [Line Items]        
Basis spread deduction on variable rate (as a percent) 0.75%      
Third Amended and Restated SVB Loan Agreement | Revolving Credit Facility        
Debt Instrument [Line Items]        
Maximum borrowing capacity $ 25,000,000.0      
Current borrowing capacity under credit facility $ 7,700,000      
Amount outstanding under revolving credit line     $ 0  
Third Amended and Restated SVB Loan Agreement | Revolving Credit Facility | Maximum        
Debt Instrument [Line Items]        
Percentage of eligible accounts receivable for borrowings 75.00%      
Third Amended and Restated SVB Loan Agreement | Revolving Credit Facility | Minimum        
Debt Instrument [Line Items]        
Interest rate 5.00%