Stockholders' Equity - Additional information (Details)	1 Months Ended		3 Months Ended		9 Months Ended		12 Months Ended
	Aug. 31, 2020 USD ($) $ / shares shares	Jul. 31, 2020 USD ($) $ / shares shares	Sep. 30, 2020 USD ($) $ / shares shares	Mar. 31, 2020 USD ($)	Sep. 30, 2020 USD ($) $ / shares shares	Sep. 30, 2019 USD ($)	Dec. 31, 2019 USD ($) item $ / shares shares	Dec. 31, 2016 USD ($)
Capital Stock Shares authorized.			120,000,000		120,000,000
Common Stock, Shares Authorized			79,999,997		79,999,997		79,999,997
Common Stock, Par or Stated Value Per Share | $ / shares			$ 0.01		$ 0.01		$ 0.01
Preferred Stock, Shares Authorized			2		2		2
Preferred Stock, Par or Stated Value Per Share | $ / shares			$ 0.01		$ 0.01		$ 0.01
Special Stock, Shares Authorized			1		1		1
Special Stock, Par or Stated Value Per Share | $ / shares			$ 0.01		$ 0.01		$ 0.01
Excess Stock, Shares Authorized			1		1		1
Common Stock, Shares, Issued			38,326,367		38,326,367		37,612,465
Common Stock, Shares, Outstanding			32,152,934		32,152,934		31,881,961
Warrants, term							10 years
Warrants to purchase common stock issued (in shares)							7,179,000
Warrants, Exercise Price (in dollars per share) | $ / shares							$ 6.50
Threshold minimum beneficial ownership (as a percent)			5.00%		5.00%		5.00%
Threshold maximum percentage of issued and outstanding common stock, after exercise of warrants (as a percent)							19.90%
Unrealized gain on warrants | $			$ 58,000		$ (1,330,000)	$ 0
Number of board members who can be appointed by the warrant holder | item							1
Preemptive rights period							5 years
Stock repurchase program, authorized amount | $							$ 5,000,000.0
Stock repurchase program, settled shares outstanding (in shares)					5,500
Stock repurchase program, shares repurchased (in shares)	72	14,699	14,771
Stock repurchase program, shares repurchased, amount | $					$ 4,500,000
Stock Repurchase Program, Average Price Per Share | $ / shares	$ 1.30	$ 1.34	$ 1.34
Stock Issued During Period, Value, Issued for Services | $				$ 600,000	465,000,000,000		$ 1,800,000
Stock Repurchased During Period Value Yet To Be Purchased | $	$ 4,516,639	$ 4,516,733	$ 4,516,639		$ 4,516,639
Common Stock [Member]
Stock repurchase program, shares repurchased (in shares)					250,197
Stock repurchase program, shares repurchased, amount | $					$ 483,361
Stock Repurchase Program, Average Price Per Share | $ / shares					$ 1.93
Stock Issued During Period, Value, Issued for Services | $				$ 2,000
Series A And B Preferred Stock [Member]
Excess Stock, Shares Authorized			1		1
Share Repurchase in Open Market [Member]
Stock repurchase program, shares repurchased (in shares)					9,271
At-The-Market Equity Offering Program [Member]
Stock Issuance Program, Maximum Amount Authorized | $								$ 12,000,000.0
Blank Check Preferred Stock [Member]
Preferred Stock, Shares Authorized			40,000,000		40,000,000		40,000,000
Preferred Stock, Par or Stated Value Per Share | $ / shares			$ 0.01		$ 0.01		$ 0.01
Excess Stock, Shares Authorized			1		1