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Debt - Narrative (Details) - USD ($)
3 Months Ended 9 Months Ended 12 Months Ended
Feb. 17, 2016
Sep. 30, 2017
Sep. 30, 2016
Sep. 30, 2017
Sep. 30, 2016
Dec. 31, 2016
Dec. 31, 2015
Debt Instrument [Line Items]              
Unamortized debt issuance costs   $ 19,000   $ 19,000   $ 35,000  
Preferred stock warrant liability   0   0   201,000 $ 0
Unamortized discount   164,000   164,000   298,000  
Long-term debt   5,221,000   5,221,000   5,667,000  
Interest paid   158,000 $ 153,000 470,000 $ 327,000 478,000  
Hercules Technology Growth Capital | Secured Debt | Loans Payable              
Debt Instrument [Line Items]              
Loan facility $ 10,000,000            
Initial draw amount 6,000,000            
Proceeds net of issuance costs $ 5,839,000            
Hercules Technology Growth Capital | Secured Debt | Loans Payable | Prime Rate              
Debt Instrument [Line Items]              
Floating interest rate (as a percent) 9.95%            
Reduction of prime rate (as a percent) 3.50%            
Series C | Hercules Technology Growth Capital | Secured Debt | Loans Payable              
Debt Instrument [Line Items]              
Shares issuable on debt instrument 80,000            
Exercise price (in dollars per share) $ 3.00            
Preferred stock warrant liability $ 134,000            
Unamortized discount $ 134,000            
Minimum | Hercules Technology Growth Capital | Secured Debt | Loans Payable              
Debt Instrument [Line Items]              
Interest rate, stated percentage 9.95%            
Maximum | Hercules Technology Growth Capital | Secured Debt | Loans Payable              
Debt Instrument [Line Items]              
Right to participate in future financing, amount $ 1,000,000            
Fees at Issuance | Hercules Technology Growth Capital | Secured Debt | Loans Payable              
Debt Instrument [Line Items]              
Unamortized debt issuance costs 161,000            
Fees at Maturity | Hercules Technology Growth Capital | Secured Debt | Loans Payable              
Debt Instrument [Line Items]              
Unamortized debt issuance costs $ 231,000            
Warrant Liability              
Debt Instrument [Line Items]              
Liability fair value   211,000   211,000   201,000 $ 0
Warrant Liability | Non-Redeemable Preferred Stock              
Debt Instrument [Line Items]              
Liability fair value   $ 0   $ 0   $ 201,000  
Scenario, Previously Reported | Series C | Hercules Technology Growth Capital | Secured Debt | Loans Payable              
Debt Instrument [Line Items]              
Shares issuable on debt instrument 104,348            
Exercise price (in dollars per share) $ 2.30