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Stockholders' Equity - June 2021 Equity Offering (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Jun. 30, 2021
Jan. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Amount paid for clearing fees $ 19 $ 231          
Payments of Stock Issuance Costs     $ (1) $ 0 $ (470) $ (474) $ (510)
Proceeds from sale of common stock and warrants $ 4,500 $ 2,300          
Institutional investors              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Sale of common stock (in shares) 990,100 688,360          
Sale of common stock (USD per share) $ 5.05 $ 3.37          
Placement agent              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Amount paid for placement agent commissions $ 400 $ 193          
Amount paid related to expenses for registered direct offering and concurrent private placement $ 51 $ 50