Basis of Presentation and Summary of Significant Accounting Policies - Net Loss per Share (Details) - shares	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Equity Option
Impairment Effects on Earnings Per Share [Line Items]
Securities excluded from net loss per share calculation (in shares)	79,000	300
Restricted Stock Units
Impairment Effects on Earnings Per Share [Line Items]
Securities excluded from net loss per share calculation (in shares)	2,000	1,000
Warrant
Impairment Effects on Earnings Per Share [Line Items]
Securities excluded from net loss per share calculation (in shares)	106,000
Convertible securities
Impairment Effects on Earnings Per Share [Line Items]
Securities excluded from net loss per share calculation (in shares)	519,000	452,000