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Long-term debt (Details) - USD ($)
$ in Millions
3 Months Ended
Dec. 06, 2018
May 06, 2016
Mar. 31, 2019
Mar. 31, 2018
Dec. 31, 2018
Long-term Debt          
Maximum borrowing capacity     $ 50.0    
2016 Amended Facility | Hercules          
Long-term Debt          
Interest rate (as a percent)   8.25%      
Interest expense recorded       $ 0.4  
2016 Amended Facility | Hercules | Second Amended and Restated Loan and Security Agreement [Member]          
Long-term Debt          
Outstanding debt $ 20.0        
Back-end fee (as a percent) 4.85%        
2016 Amended Facility | Prime Rate | Hercules          
Long-term Debt          
Variable interest rate basis   8.25%      
2018 Amended Facility | Hercules          
Long-term Debt          
Foreign currency loss     0.7    
Foreign currency gain       $ 0.6  
2018 Amended Facility | Hercules | Second Amended and Restated Loan and Security Agreement [Member]          
Long-term Debt          
Outstanding debt $ 35.0        
Interest rate (as a percent) 8.85%        
Back-end fee (as a percent) 4.95%        
Net cash inflow associated with increase in debt loan facility $ 15.0        
Maximum borrowing capacity 30.0        
Borrowing capacity subject to discretion 15.0        
Drew down amount 15.0        
Amount the company has right to draw $ 15.0        
Facility fee (as a percent) 0.50%        
2018 Amended Facility | Prime Rate | Hercules | Second Amended and Restated Loan and Security Agreement [Member]          
Long-term Debt          
Variable interest rate basis 8.85%        
Discount rate (as a percent) 5.50%        
Venture debt loan facility | 2016 Amended Facility | Prime Rate | Hercules          
Long-term Debt          
Discount rate (as a percent)   5.25%      
Venture debt loan facility | 2018 Amended Facility          
Long-term Debt          
Amortized cost net of discount and debt issuance costs     $ 35.9   $ 35.7
Percentage of worldwide cash reserves     65.00%    
Venture debt loan facility | 2018 Amended Facility | Hercules          
Long-term Debt          
Interest expense recorded     $ 0.9