Debt - Schedule of Long-term Debt (Details) - USD ($)	Dec. 31, 2020	Oct. 22, 2020	Dec. 31, 2019	Oct. 01, 2019
Debt Instrument [Line Items]
Total future minimum payments	$ 2,417,000		$ 5,609,000
Net carrying value	2,417,000		5,507,000
Current portion of long-term debt, net of debt discount	2,014,000		2,664,000
Long-term debt, excluding current maturities	403,000		2,843,000
SVB Loan Agreement
Debt Instrument [Line Items]
Total future minimum payments	0	$ 3,063,000	5,609,000	$ 5,609,000
Less: Unamortized SVB debt discount	0		(102,000)
Current portion of long-term debt, net of debt discount	0		2,664,000
Long-term debt, excluding current maturities	0		2,843,000
PPP Loan
Debt Instrument [Line Items]
Total future minimum payments	2,417,000		0
Current portion of long-term debt, net of debt discount	2,014,000		0
Long-term debt, excluding current maturities	$ 403,000		$ 0