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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Jan. 31, 2021
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Share-based Compensation        
Total grant date fair value of options vested   $ 312 $ 799  
Shares available for future issuance (in shares)   640,543   179,219
Value of share issued   $ 364 $ 315  
Weighted-average exercise price (per share)   $ 5.75   $ 5.58
Number of stock options granted (in shares)   39,500    
Options remained outstanding   2,121,896   2,272,905
Employees        
Share-based Compensation        
Weighted-average grant date fair value of options granted   $ 3.53 $ 1.52  
2016 Employee Stock Purchase Plan        
Share-based Compensation        
Increase in number of shares reserved for issuance (in shares) 190,315      
Shares available for future issuance (in shares)   717,181