Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans - Schedule of Stock Options Outstanding, Exercisable and Vested (Details)

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Equity Incentive Plans - Schedule of Stock Options Outstanding, Exercisable and Vested (Details) - 2005 Plan and 2017 Plan - $ / shares
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Outstanding balance 820,186 1,294,128 1,130,141 938,250
Weighted-average Remaining Contractual Life (years) 7 years 2 months 1 day 6 years 2 months 19 days 6 years 3 months 14 days  
Exercisable and Vested balance 439,927 883,959 842,261  
Weighted-average Remaining Contractual Life (years) 5 years 11 months 26 days 5 years 5 years 3 months 25 days  
Weighted-average Exercise Price $ 1.66 $ 0.85 $ 0.74