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Term Loan Obligations (Details) - USD ($)
 1 Months Ended 3 Months Ended
Mar. 29, 2020
Mar. 28, 2020
Apr. 29, 2019
Aug. 31, 2018
May 29, 2015
Apr. 30, 2019
Mar. 31, 2019
Jun. 30, 2018
Sep. 30, 2017
Mar. 31, 2020
Mar. 31, 2019
Dec. 31, 2018
Sep. 20, 2017
Debt Instrument [Line Items]                          
Interest expense                   $ 349,000 $ 515,000    
Non-cash amortization                   $ 100,000 $ 200,000    
Term Loan [Member]                          
Debt Instrument [Line Items]                          
Origination Date         May 29, 2015                
Original Loan Amount         $ 17,700,000                
Basis variable rate         7.95%                
Maturity date Jun. 01, 2024 Jun. 01, 2021     Jun. 01, 2019                
Fees amount associated with loan         $ 1,100,000                
Number of shares callable by warrants (in shares)         188                
Warrant exercise price (in dollars per share)         $ 5,175                
Date from which warrants are exercisable         Nov. 30, 2015                
Warrant expiration date         May 29, 2025                
Amendment fee $ 1,300,000             $ 250,000 $ 250,000        
Percentage of proceeds received       75.00%                  
Debt instrument amendment, description       The Third Amendment extends requires that the Company pay to Oxford, in accordance with its pro rata share of the loans, 75% of all proceeds received (i) from the issuance and sale of unsecured subordinated convertible debt, (ii) in connection with a joint venture, collaboration or other partnering transaction, (iii) in connection with any licenses, (iv) from dividends (other than non-cash dividends from wholly owned subsidiaries) and (v) from the sale of any assets (such requirement, the “Prepayment Requirement”).                  
Minimum amount to be paid pursuant prepayment requirement       $ 7,000,000                  
Debt instrument, prepayment requisite date       Dec. 31, 2018                  
Debt instrument prepayment, description       The Prepayment Requirement does not apply to proceeds from the sale and issuance of the Company’s equity securities, other than convertible debt. The Prepayment Requirement shall apply until an aggregate principle amount of $7.0 million has been paid pursuant to the Prepayment Requirement. However, if less than $7.0 million has been paid pursuant to the Prepayment Requirement on December 31, 2018 then the Company is required to promptly make additional payments until an aggregate principal amount of $7.0 million has been paid.                  
Minimum liquidity covenant                       $ 2,000,000 $ 1,500,000
Extended interest only period date             Mar. 29, 2019            
Debt principal repayment start date May 01, 2021   May 01, 2020                    
Prepayments of term loan $ 5,000,000         $ 3,100,000              
Term loan, remaining amount $ 4,300,000                        
Debt instrument, covenant compliance                   we were in compliance with all of the debt covenants under the Loan and Security Agreement.      
Term Loan [Member] | LIBOR [Member] | Interest Rate Floor [Member]                          
Debt Instrument [Line Items]                          
Basis variable rate         1.00%                
Term Loan [Member] | Minimum [Member]                          
Debt Instrument [Line Items]                          
Interest rate         8.95%                
Term Loan [Member] | Maximum [Member]                          
Debt Instrument [Line Items]                          
Amount of loan outstanding threshold in order to release intellectual property asset collateral                   $ 3,000,000