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Intrinsic value of outstanding award under share-based payment arrangement. Excludes share and unit options.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Convertible Preferred Stock and Stockholders’ Equity (Details Narrative) - USD ($)			1 Months Ended			12 Months Ended
	May 25, 2020	Aug. 07, 2019	May 31, 2019	Sep. 30, 2016	Jun. 30, 2014	Dec. 31, 2020	Dec. 31, 2019
Subsidiary, Sale of Stock [Line Items]
Number of stockholders votes, description						one
Payments of Ordinary Dividends, Common Stock						$ 0
Common Stock, Par or Stated Value Per Share						$ 0.001	$ 0.001
Preferred Stock, Par or Stated Value Per Share						0.001	$ 0.001
Class of Warrant or Right, Exercise Price of Warrants or Rights						$ 0.70
Class of Warrant or Right, Date from which Warrants or Rights Exercisable						Sep. 29, 2021
Common Stock, Capital Shares Reserved for Future Issuance						53,187,679	55,532,811
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number						2,456,979	1,857,599
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount						$ 3,200,000
Weighted average amortization period of total compensation cost not yet recognized, description						four years
2012 Stock Incentive Plan [Member]
Subsidiary, Sale of Stock [Line Items]
Stock plan expiration date						Mar. 25, 2012
2012 Stock Incentive Plan [Member] \| Director [Member] \| Minimum [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period						1 year
2012 Stock Incentive Plan [Member] \| Director [Member] \| Maximum [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period						5 years
2012 Stock Incentive Plan [Member] \| Share-based Payment Arrangement, Option [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period						10 years
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent						100.00%
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage						25.00%
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period						3 years
2012 Stock Incentive Plan [Member] \| Share-based Payment Arrangement, Option [Member] \| Non-employee Directors [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period						10 years
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent						100.00%
2012 Stock Incentive Plan [Member] \| Stock Appreciation Rights (SARs) [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period						10 years
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage						25.00%
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period						3 years
2012 Stock Incentive Plan [Member] \| Restricted Stock Units (RSUs) [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period						4 years
Share Price						$ 5.09
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Outstanding						$ 5,700,000
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Vested						$ 600,000
2012 Stock Incentive Plan [Member] \| Stock Options and Stock Appreciation Rights (SARs) [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term						7 years 11 months 19 days
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number						2,456,979
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number						901,549
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Exercise Price						$ 2.21
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Remaining Contractual Term						6 years 9 months 21 days
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value						$ 5,900,000	$ 6,600,000
Share Price						$ 5.09	$ 5.29
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested, Number of Shares						884,654	494,137
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value						$ 400,000	$ 400,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value						$ 4.49	$ 2.12
Stock Award Plans [Member]
Subsidiary, Sale of Stock [Line Items]
Common Stock, Capital Shares Reserved for Future Issuance						2,054,941	3,216,028
2009 Employee Stock Purchase Plan (""ESPP"") [Member]
Subsidiary, Sale of Stock [Line Items]
Common Stock, Capital Shares Reserved for Future Issuance						229,136
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized			250,000		250,000
Eligible employees term						3 months
Maximum purchase percentage of employees compensation						15.00%
Maximum fair value of shares subject to repurchase obligation						$ 25,000
Maximum fair value percentage of shares subject to repurchase obligation						95.00%
Series A Convertible Preferred Stock [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Number of Shares Issued in Transaction				24,000
Preferred Stock, Par or Stated Value Per Share				$ 1,000
Preferred stock par value per share				0.001
Preferred Stock, Redemption Price Per Share				$ 0.65
Class of Warrant or Right, Number of Securities Called by Warrants or Rights				36,923,078
Preferred Stock, Dividend Rate, Percentage				6.00%
Preferred stock redemption, triggering event, Percent of common stock sold threshold				50.00%
Common Stock, Capital Shares Reserved for Future Issuance						45,278,096	46,398,904
Direct Registered Offering [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Consideration Received on Transaction	$ 15,000,000.0
Direct Registered Offering [Member] \| Common Stock [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Number of Shares Issued in Transaction	3,658,537
Common Stock, Par or Stated Value Per Share	$ 0.001
Sale of Stock, Price Per Share	$ 4.10
Private Placement [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Consideration Received on Transaction		$ 23,100,000
Private Placement [Member] \| Common Stock [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Number of Shares Issued in Transaction		6,585,000
Common Stock, Par or Stated Value Per Share		$ 0.001
Sale of Stock, Price Per Share		$ 2.05
Private Placement [Member] \| Series B Convertible Preferred Stock [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Number of Shares Issued in Transaction		5,610,121
Preferred Stock, Par or Stated Value Per Share		$ 0.001
Convertible securities, conversion price per share		$ 2.05