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Warrants - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Nov. 03, 2014
Aug. 31, 2020
May 31, 2020
Dec. 31, 2019
Sep. 30, 2019
Aug. 31, 2019
Mar. 31, 2019
Dec. 31, 2017
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Jul. 25, 2019
Nov. 26, 2018
Dec. 11, 2017
Nov. 09, 2016
Oct. 29, 2013
Class Of Warrant Or Right [Line Items]                                  
Warrants outstanding       69,656       2,099,199 15,541 69,656 123,037 2,099,199          
Common stock, par value       $ 0.0001         $ 0.0001 $ 0.0001              
Exercise price of warrants (in dollars per share)       $ 7.21       $ 5.21 $ 80.43 $ 7.21 $ 6.35 $ 5.21          
Fair value               $ 2,791,000       $ 2,791,000          
Warrants exercised                 69,656 111,715 101,310            
Shares issued               1,783,587                  
Warrant expiration date                             Dec. 11, 2018    
September 2014 Notes                                  
Class Of Warrant Or Right [Line Items]                                  
Common stock to be issued if warrants are exercised (in shares) 42,059                                
Exercise price of warrants (in dollars per share) $ 5.94                                
Warrants exercised                   42,059              
Warrant term 5 years                                
Warrant expiration date Nov. 02, 2019                                
Fair value of warrant recorded as a debt discount $ 79,129                                
Mandatory conversion, warrant price premium as a percent of the conversion price 10.00%                                
Common warrants                                  
Class Of Warrant Or Right [Line Items]                                  
Common stock to be issued if warrants are exercised (in shares)                             1,783,587    
Exercise price of warrants (in dollars per share)               $ 5.25       $ 5.25     $ 5.25    
Fair value               $ 2,683,000       $ 2,683,000          
Placement agent warrants                                  
Class Of Warrant Or Right [Line Items]                                  
Common stock to be issued if warrants are exercised (in shares)                             107,015    
Exercise price of warrants (in dollars per share)                             $ 6.6562    
Fair value               $ 108,000       $ 108,000          
Shares issued               107,015                  
Warrant term                             1 year    
Warrant expiration date                             Dec. 11, 2018    
2013 Warrants                                  
Class Of Warrant Or Right [Line Items]                                  
Common stock to be issued if warrants are exercised (in shares)                                 230,459
Exercise price of warrants (in dollars per share)                                 $ 1.30
Warrants exercised                     101,310 129,149          
Warrant term                 5 years               5 years
Amended Term Loan 2016                                  
Class Of Warrant Or Right [Line Items]                                  
Shares issued   7,579                              
Warrants | Term loan 2020 tranche one                                  
Class Of Warrant Or Right [Line Items]                                  
Common stock, par value                 $ 0.0001                
Percentage of aggregate amount of loan                 2.50%                
Common stock to be issued if warrants are exercised (in shares)                 15,541                
Exercise price of warrants (in dollars per share)                 $ 80.43                
Trading days                 10 days                
Term of warrants (in years)                 7 years                
Fair value                 $ 900,000                
Warrants | 2019 Term Loan                                  
Class Of Warrant Or Right [Line Items]                                  
Warrants outstanding                 0                
Common stock to be issued if warrants are exercised (in shares)             70,000           29,167        
Exercise price of warrants (in dollars per share)             $ 8.10                    
Fair value             $ 400,000                    
Warrants exercisable date             Mar. 04, 2026                    
Warrants exercisable             58,332                    
Warrants exercised   29,167   29,167                          
Shares issued   26,270   24,185                          
Warrants | Term Loan 2019, Tranche Two                                  
Class Of Warrant Or Right [Line Items]                                  
Common stock to be issued if warrants are exercised (in shares)                         5,750        
Exercise price of warrants (in dollars per share)                         $ 25.71        
Warrants exercisable             11,668                    
Warrants | Amended Term Loan 2016                                  
Class Of Warrant Or Right [Line Items]                                  
Warrants outstanding                 0                
Common stock to be issued if warrants are exercised (in shares)                           15,750      
Exercise price of warrants (in dollars per share)                           $ 3.06      
Warrants exercised   7,875       7,875                      
Shares issued           6,969                      
Warrant term                           7 years      
Warrants | Original Term Loan 2016                                  
Class Of Warrant Or Right [Line Items]                                  
Warrants outstanding                 0                
Common stock to be issued if warrants are exercised (in shares)                               65,228  
Exercise price of warrants (in dollars per share)                               $ 7.41  
Warrants exercised         32,614                        
Shares issued     29,982   24,328