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Equity Plans - Description (Details) - shares
1 Months Ended 12 Months Ended
Jul. 31, 2016
Dec. 31, 2019
Dec. 31, 2018
May 31, 2018
2007 Stock Option and Incentive Plan        
Equity Plans        
Number of shares available for issuance 0      
2016 Equity Incentive Plan        
Equity Plans        
Number of shares authorized 1,200,000      
Maximum annual additional authorized shares as a percentage of outstanding shares   4.00%    
Number of shares available for issuance   602,091    
2016 Equity Incentive Plan | Stockholders possessing more than 10% of the total combined voting power | Minimum        
Equity Plans        
Exercise price as a percentage of the fair market value of common stock on grant date   110.00%    
2016 Equity Incentive Plan | Tranche two        
Equity Plans        
Vesting period 3 years      
2018 Inducement Plan        
Equity Plans        
Expiration period   10 years    
Vesting period     18 months  
Number of shares authorized       750,000
Number of shares available for issuance   280,000    
Stock options - employees, consultants, directors | 2007 Stock Option and Incentive Plan        
Equity Plans        
Expiration period   10 years    
Stock options - employees, consultants, directors | 2007 Stock Option and Incentive Plan | Minimum        
Equity Plans        
Vesting period   4 years    
Stock options - employees, consultants, directors | 2007 Stock Option and Incentive Plan | Maximum        
Equity Plans        
Cliff vesting period   1 year    
Stock options - employees, consultants, directors | 2016 Equity Incentive Plan        
Equity Plans        
Expiration period   10 years    
Stock options - employees, consultants, directors | 2016 Equity Incentive Plan | Minimum        
Equity Plans        
Exercise price as a percentage of the fair market value of common stock on grant date   100.00%    
Employee stock options | 2016 Equity Incentive Plan        
Equity Plans        
Vesting period 1 year      
Vesting percentage of requisite service period 25.00%      
Non Employee Director Initial Stock Options | 2016 Equity Incentive Plan | Maximum        
Equity Plans        
Vesting period   3 years    
Nonemployee Director Annual Refresher Stock Options | 2016 Equity Incentive Plan | Minimum        
Equity Plans        
Vesting period   1 year