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Accounting Changes and Error Corrections - Balance Sheet (Details) - USD ($) $ in Thousands | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Dec. 31, 2018 | Sep. 30, 2018 | Jun. 30, 2018 | Mar. 31, 2018 | Dec. 31, 2017
--- | --- | --- | --- | --- | --- | --- | --- | ---
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |
Redeemable convertible preferred stock warrant liabilities | $ 0 |  | $ 1,503 | $ 1,503 |  |  |  | $ 896
Total liabilities | 34,094 |  |  | 35,621 |  |  |  |
Accumulated deficit | (161,194) |  |  | (152,564) |  |  |  |
Total stockholders' deficit | $ 58,650 | $ (121,734) | (116,772) | (111,966) | $ (107,807) | $ (103,293) | $ (98,879) | (96,684)
As Previously Reported |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |
Redeemable convertible preferred stock warrant liabilities |  |  | 2,680 | 2,680 |  |  |  | 896
Total liabilities |  |  |  | 36,798 |  |  |  |
Accumulated deficit |  |  |  | (153,741) |  |  |  |
Total stockholders' deficit |  |  |  | (113,143) |  |  |  |
Adjustment |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |
Redeemable convertible preferred stock warrant liabilities |  |  | $ (1,177) | (1,177) |  |  |  | $ 0
Total liabilities |  |  |  | (1,177) |  |  |  |
Accumulated deficit |  |  |  | 1,177 |  |  |  |
Total stockholders' deficit |  |  |  | $ 1,177 |  |  |  |

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