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Restructuring - Narrative (Details) - USD ($)
1 Months Ended 3 Months Ended
Jan. 31, 2020
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Jun. 30, 2020
Dec. 31, 2019
Restructuring and Related Activities [Abstract]            
Restructuring   $ (19,000) $ (14,000)      
Proceeds from sale of common stock $ 2,300,000          
Stockholders' equity   $ 3,278,000 $ 5,883,000 $ 4,255,000 $ 1,714,000 $ 3,996,000