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Stock-Based Compensation - Additional Information (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2020
USD ($)
shares
Sep. 30, 2020
USD ($)
$ / shares
shares
2011 Equity Incentive Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Intrinsic value of stock options exercisable | $ $ 0 $ 0
Employee Service Share-based Compensation, Nonvested Awards, Compensation Not yet Recognized, Stock Options | $ $ 300,000 $ 300,000
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition   3 years 21 days
2011 Equity Incentive Plan | Certain Employees and Directors    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross   227,701
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period   10 years
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Fair Value | $   $ 800,000
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term   6 years 7 days
Forfiture and expiration of stock Option 71,000 957,000
Stock or Unit Option Plan Expense | $ $ 57,000 $ 312,000
2011 Equity Incentive Plan | Certain Employees and Directors | Maximum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price | $ / shares   $ 0.90
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value | $ / shares   $ 4.05
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate   96.00%
2011 Equity Incentive Plan | Certain Employees and Directors | Minimum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price | $ / shares   $ 5.98
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value | $ / shares   $ 0.69
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate   78.00%
2011 Equity Incentive Plan | Employee Stock Option    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross   228,000
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price | $ / shares   $ 5.49
Forfiture and expiration of stock Option   957,000
2011 Equity Incentive Plan | Employee Stock Option | Certain Employees and Directors    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period   4 years
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate   0.00%
2011 Equity Incentive Plan | Employee Stock Option | Certain Employees and Directors | Maximum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate   1.50%
2011 Equity Incentive Plan | Employee Stock Option | Certain Employees and Directors | Minimum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate   0.31%
The 2015 Employee Stock Purchase Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized 77,031 77,031
Employee Stock Purchase Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Repurchase and cancelation of common stock shares 39,467 39,467
Cost related to repurchase and cancelation of common stock shares | $   $ 270,000