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Stockholders' Equity - Issuance of Common Stock and Warrants (Details) |  | 1 Months Ended | 9 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
May 29, 2018 USD ($) $ / shares shares | Mar. 31, 2017 USD ($) $ / shares shares | Sep. 30, 2018 USD ($) $ / shares | Oct. 01, 2017 USD ($) | Dec. 31, 2017 $ / shares | Jun. 30, 2017 $ / shares shares | Mar. 16, 2017 USD ($) offering
Class Of Stock [Line Items] |  |  |  |  |  |  |
Shelf registration, number of offerings | offering |  |  |  |  |  |  | 1
Shelf registration, maximum offering | $ |  |  |  |  |  |  | $ 40,000,000
Common stock, par value (in dollars per share) | $ / shares | $ 0.001 | $ 0.001 | $ 0.001 |  | $ 0.001 |  |
Number of common stock contain in each unit | shares | 1 |  |  |  |  |  |
Number of warrant contain in each unit | shares | 0.40 |  |  |  |  |  |
Exercise price of each unit | $ / shares | $ 1.15 |  |  |  |  |  |
Net proceeds from issuance of common stock | $ | $ 13,900,000 | $ 15,200,000 | $ 15,859,000 | $ 17,316,000 |  |  |
Underwriting discounts and other offering expenses | $ | $ 1,600,000 |  | $ 1,638,000 | $ 1,771,000 |  |  |
Exercisable period of warrants | 60 months |  |  |  |  |  |
Strike price of warrants (in dollars per share) | $ / shares | $ 1.38 |  |  |  |  |  |
Fair value assumptions of warrants, expected term | 5 years |  |  |  |  |  |
Underwritten public offering price | $ / shares | $ 1.15 | $ 1.50 | $ 1.00 |  |  |  |
June 2012 financing |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Strike price of warrants (in dollars per share) | $ / shares |  |  |  |  |  | $ 2.98 |
Warrants outstanding (in shares) | shares |  |  |  |  |  | 2,300,000 |
Measurement Input, Share Price |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Warrants and Rights Outstanding, Measurement Input | 0.57 |  |  |  |  |  |
Measurement Input, Risk Free Interest Rate |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Warrants and Rights Outstanding, Measurement Input | 2.58 |  |  |  |  |  |
Measurement Input, Price Volatility |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Warrants and Rights Outstanding, Measurement Input | 52.75 |  |  |  |  |  |
Measurement Input, Expected Dividend Rate |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Warrants and Rights Outstanding, Measurement Input | 0 |  |  |  |  |  |
Common stock |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Aggregate shares of common stock issued | shares | 13,500,000 | 11,300,000 |  |  |  |  |
Common stock | Maximum |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Warrants to purchase aggregate shares of common stock | shares | 5,400,000 |  |  |  |  |  |

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