Annual report pursuant to Section 13 and 15(d)

Long-term Notes Payable (Including Current Portion) and Line of Credit - Additional Information (Details)

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Long-term Notes Payable (Including Current Portion) and Line of Credit - Additional Information (Details) - USD ($)
 1 Months Ended 12 Months Ended
Feb. 01, 2017
Jan. 31, 2018
Dec. 31, 2015
Dec. 31, 2013
Dec. 31, 2019
Dec. 31, 2017
Loan Agreement With Silicon Valley Bank            
Line Of Credit Facility [Line Items]            
Loan agreement amount     $ 4,000,000      
Term of payments     36 months      
Date of maturity     Dec. 01, 2018      
Interest rate fixed percentage     5.00%      
Silicon Valley Bank | Revolving Credit Facility            
Line Of Credit Facility [Line Items]            
Line of credit facility allowable amount   $ 10,000,000       $ 3,000,000
Line of credit facility maturity date         Jan. 31, 2020  
Line of credit         $ 0  
Line of credit facility borrowing base limitation percentage of eligible receivables   80.00%        
Liquidity ratio   125.00%        
Interest rate fixed percentage   $ 3,000        
Line of credit facility floating rate not met   2.00%     4.75%  
Silicon Valley Bank | Revolving Credit Facility | The Wall Street Journal Prime Rate            
Line Of Credit Facility [Line Items]            
Basis spread on variable interest rate   1.00%     4.75%  
Line of credit facility interest rate description         The Company will be required to pay interest on borrowings outstanding, if any, under the revolving line of credit at a floating rate per annum equal to 1% above the Wall Street Journal prime rate (4.75% as of December 31, 2019) (or, if unavailable, the Silicon Valley Bank prime rate) on a monthly basis, so long as the Company maintains a liquidity ratio of cash and cash equivalents plus accounts receivable to outstanding debt under the Amended Loan Agreement minus deferred revenue of 1.50 to 1.00. If this liquidity ratio is not met, the Company will be subject to a minimum interest charge of $3 thousand per month and borrowings outstanding, if any, under the revolving line of credit will accrue interest at a floating rate per annum equal to 2% above the Wall Street Journal prime rate (4.75% as of December 31, 2019) (or, if unavailable the Silicon Valley Bank prime rate) on a monthly basis. Prior to the amendment in January 2018, the revolving line of credit bore interest rate at the U.S. prime rate plus 1.25%. The revolving line of credit matured on January 31, 2020 and was not renewed.  
Silicon Valley Bank | Revolving Credit Facility | Prime Rate            
Line Of Credit Facility [Line Items]            
Liquidity ratio   150.00%        
Silicon Valley Bank | Revolving Credit Facility | U.S. Prime Rate            
Line Of Credit Facility [Line Items]            
Basis spread on variable interest rate   1.25%        
Silicon Valley Bank | Revolving Credit Facility | Growth Capital Term Loan            
Line Of Credit Facility [Line Items]            
Line of credit facility allowable amount       $ 750,000    
Line of credit facility maturity date         Feb. 01, 2017  
Payment of principal and accrued interest $ 55,000          
Line of credit facility interest rate       6.50%    
Line of credit         $ 0