Stock Based Compensation - Summary of Warrant Activity (Details) - $ / shares	3 Months Ended
	Mar. 31, 2020	Mar. 31, 2019
Number of Warrants
Beginning balance (in shares)	1,550,975
Issued (in shares)	0	40,279
Expired (in shares)	0
Exercised (in shares)	(11,049)
Ending balance (in shares)	1,539,926
Exercisable (in shares)	1,539,926
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 6.08
Issued (in dollars per share)	0
Expired (in dollars per share)	0
Exercised (in dollars per share)	1.80
Ending balance (in dollars per share)	6.12
Exercisable (in dollars per share)	$ 6.12