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Stock Benefit Plans and Equity Transactions - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
May 29, 2020
Apr. 05, 2020
Jul. 31, 2019
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Jun. 17, 2020
Apr. 08, 2020
Jun. 30, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Stock compensation charge       $ 100,000   $ 900,000            
Warrants outstanding       25,357,576   25,357,576            
Stock-based compensation           $ 12,687,000 $ 7,566,000          
Common Stock                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Common stock issued         12,535,000              
2017 PIPE Warrants                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Warrant expiration period           5 years            
Proceeds from exercise of warrant         $ 600,000 $ 300,000 $ 800,000          
Number of warrants exercised       0 300,000 125,000 418,864          
Warrants outstanding       3,255,554   3,255,554            
Exercise price of warrants       $ 2.02   $ 2.02            
2018 Common Stock Warrants                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Warrant expiration period           5 years            
Warrants outstanding       11,527,147   11,527,147            
Exercise price of warrants       $ 3.50   $ 3.50            
2018 Common Stock Warrants | 2018 PIPE Warrants                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Proceeds from exercise of warrant         $ 0.0 $ 900,000 $ 600,000          
Number of warrants exercised       136,000 81,195 1,670,524 217,195          
Warrants outstanding       11,527,147   11,527,147            
Squadron Capital                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Warrant expiration period 7 years                      
Warrants outstanding       6,759,530   6,759,530            
Number of warrants issued (in shares) 1,075,820                 4,838,710 845,000  
Exercise price of warrants $ 4.88                 $ 2.17 $ 3.15  
Warrant termination date May 29, 2027                      
2016 Equity Incentive Plan                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Number of shares available for grant       4,285,924,000   4,285,924,000   7,000,000        
Salary-to-Equity Conversion Program                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Vesting date   Jul. 10, 2020                    
Deferred compensation liability       $ 900,000   $ 900,000            
Salary-to-Equity Conversion Program | Minimum                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Eligible employee payroll cost for conversion program   $ 100,000                    
Employee voluntary election to reduce compensation rate   10.00%                    
Salary-to-Equity Conversion Program | Maximum                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Employee voluntary election to reduce compensation rate   75.00%                    
2017 Distributor Inducement Plan | Common Stock                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Common stock issued       51,500                
Stock-based compensation       $ 300,000 $ 100,000 $ 400,000 $ 300,000          
Number of warrants available to be granted       370,000   370,000            
2017 Distributor Inducement Plan | Common Stock | Board of Directors Chairman                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Share authorized grant of warrants                       1,000,000
Two Thousand Seventeen Development Services Plan | Restricted Common Stock | Board of Directors Chairman                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Number of shares available for grant       5,169,000   5,169,000            
Two Thousand Seventeen Development Services Plan | Common Stock | Board of Directors Chairman                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Number of shares available for grant                 6,000,000      
Common stock issued           0            
2019 Management Objective Strategic Incentive Plan                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Stock-based compensation       $ 100,000   $ 100,000            
2019 Management Objective Strategic Incentive Plan | Unvested Restricted Stock Award                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Maximum grant of shares per participant           25,000            
Restricted shares granted under the plan           130,000            
2019 Management Objective Strategic Incentive Plan | Common Stock | Board of Directors Chairman                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Share authorized grant of warrants     500,000                  
Maximum grant of shares per participant     50,000