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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 | 9 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Mar. 04, 2019 | May 07, 2018 | Sep. 30, 2018 | Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019 | Dec. 31, 2019 | Mar. 31, 2019 | May 31, 2018
Long-term debt |  |  |  |  |  |  |  |  |  |  |
Aggregate number of shares of common stock called by warrants |  |  |  | 19,426 |  | 19,426 |  | 28,489 |  |  |
Proceeds from issuance of long-term debt |  |  |  |  |  |  | $ 9,500 |  |  |  |
Debt amount |  |  |  | $ 29,952 |  | $ 29,952 |  |  |  |  |
Current portion of long-term debt |  |  |  | 8,962 |  | 8,962 |  | $ 5,184 | [1] |  |
Long-term debt |  |  |  | 20,990 |  | 20,990 |  | 27,093 | [1] |  |
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
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 |
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 |  |  |  |  |  |  |  |  |
Final payment fee (as a percent) |  | 8.50% |  |  |  |  |  |  |  |  |
Additional interest rate in the event of default (as a percent) |  | 4.00% |  |  |  |  |  |  |  |  |
Debt issuance costs |  | $ 200 |  |  |  |  |  |  |  |  |
Non-cash interest expense resulting from amortization of discount and accretion of final payment |  |  |  | 200 | $ 200 | 500 | $ 400 |  |  |  |
Debt amount |  |  |  | 13,800 |  | 13,800 |  | 16,400 |  |  |
Current portion of long-term debt |  |  |  | 9,000 |  | 9,000 |  | 5,200 |  |  |
Long-term debt |  |  |  | $ 4,800 |  | $ 4,800 |  | 11,200 |  |  |
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 Loans | On or before first anniversary |  |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |  |
Prepayment fee (as a percent) |  | 3.00% |  |  |  |  |  |  |  |  |
Silicon Valley Bank Loans | Following first anniversary |  |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |  |
Prepayment fee (as a percent) |  | 2.00% |  |  |  |  |  |  |  |  |
Silicon Valley Bank Loans | Following second anniversary |  |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |  |
Prepayment fee (as a percent) |  | 1.00% |  |  |  |  |  |  |  |  |
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 |  |  |
[1] | The consolidated balance sheet as of December 31, 2019 has been derived from the audited consolidated financial statements as of that date included in the Company’s Annual Report on Form 10-K for the year ended December 31, 2019.

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