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Organization (Details) - USD ($)
1 Months Ended 12 Months Ended
May 31, 2020
Dec. 31, 2020
Dec. 31, 2019
Aug. 31, 2020
Sep. 16, 2019
Dec. 31, 2016
Class of Warrant or Right [Line Items]            
Accumulated deficit   $ 199,103,000 $ 183,278,000      
Cash used in operating activities   8,755,000 15,772,000      
Cash   $ 12,862,000 10,872,000      
Reduction on workforce 35.00% 35.00%        
Proceeds from exercise of common stock warrants   $ 3,334,000 $ 0      
Debt covenant, unrestricted cash   2,000,000        
Unrestricted cash   10,862,000        
Sale of shares (in dollars per share)         $ 1.00  
Loan agreement            
Class of Warrant or Right [Line Items]            
Extinguishment of debt amount   1,512,000        
Borrowing capacity           $ 7,000,000
PWB loan agreement | Term loans            
Class of Warrant or Right [Line Items]            
Borrowing capacity   2,000,000   $ 2,000    
Direct offering            
Class of Warrant or Right [Line Items]            
Proceeds from direct offering   $ 7,082,000