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Long-term debt (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Dec. 06, 2018
May 06, 2016
Jun. 30, 2019
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Dec. 31, 2018
Long-term Debt              
Maximum borrowing capacity     $ 50.0   $ 50.0    
2016 Amended Facility | Hercules              
Long-term Debt              
Interest rate (as a percent)   8.25%          
Interest expense recorded           $ 0.5  
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       $ 1.1 0.2 0.6  
Foreign currency gain     0.5        
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     36.0   $ 36.0   $ 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 $ 0.5 $ 1.9 $ 0.9