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Stock Benefit Plans and Equity Transactions - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
May 29, 2020
Apr. 05, 2020
Jul. 31, 2019
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Jun. 17, 2020
Apr. 08, 2020
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Warrants outstanding       25,400,659   25,400,659          
Stock-based compensation           $ 8,143,000 $ 3,963,000        
2017 PIPE Warrants                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Warrant expiration period           5 years          
Proceeds from exercise of warrant         $ 200,000 $ 300,000 $ 200,000        
Number of warrants exercised       0 118,864 125,000 118,864        
Warrants outstanding       3,255,554   3,255,554          
Exercise price of warrants       $ 2.02   $ 2.02          
2018 Common Stock Warrants                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Warrant expiration period           5 years          
Warrants outstanding       11,663,147   11,663,147          
Exercise price of warrants       $ 3.50   $ 3.50          
2018 Common Stock Warrants | 2018 PIPE Warrants                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Proceeds from exercise of warrant         $ 500,000 $ 900,000 $ 500,000        
Number of warrants exercised       0 136,000 2,059,524 136,000        
Warrants outstanding       11,663,147   11,663,147          
Squadron Capital                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Warrant expiration period 7 years                    
Warrants outstanding       6,759,530   6,759,530          
Number of warrants issued (in shares) 1,075,820       4,838,710   4,838,710     845,000  
Exercise price of warrants $ 4.88       $ 2.17   $ 2.17     $ 3.15  
Warrant termination date May 29, 2027                    
2016 Equity Incentive Plan                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of shares available for grant       4,596,708,000   4,596,708,000   7,000,000      
Salary-to-Equity Conversion Program                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting date   Jul. 10, 2020                  
Deferred compensation liability       $ 700,000   $ 700,000          
Salary-to-Equity Conversion Program | Minimum                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Eligible employee payroll cost for conversion program   $ 100,000                  
Employee voluntary election to reduce compensation rate   10.00%                  
Salary-to-Equity Conversion Program | Maximum                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Employee voluntary election to reduce compensation rate   75.00%                  
2017 Distributor Inducement Plan | Common Stock                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Common stock issued       51,500              
Stock-based compensation       $ 100,000 $ 100,000 $ 100,000 $ 100,000        
Number of warrants available to be granted       220,000   220,000          
2017 Distributor Inducement Plan | Common Stock | Board of Directors Chairman                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Share authorized grant of warrants                     1,000,000
Two Thousand Seventeen Development Services Plan | Restricted Common Stock | Board of Directors Chairman                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of shares available for grant       4,619,000   4,619,000          
Two Thousand Seventeen Development Services Plan | Common Stock | Board of Directors Chairman                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of shares available for grant                 6,000,000    
Common stock issued           0          
2019 Management Objective Strategic Incentive Plan                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Stock-based compensation           $ 100,000          
2019 Management Objective Strategic Incentive Plan | Unvested restricted share awards                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Maximum grant of shares per participant           25,000          
Restricted shares granted under the plan           130,000          
2019 Management Objective Strategic Incentive Plan | Common Stock | Board of Directors Chairman                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Share authorized grant of warrants     500,000                
Maximum grant of shares per participant     50,000