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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