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Share-Based Compensation (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Sep. 30, 2020
USD ($)
Sep. 30, 2021
USD ($)
offeringPeriod
$ / shares
shares
Sep. 30, 2020
USD ($)
shares
Share-based Compensation expenses [Abstract]        
Share-based compensation expenses | $ $ 1,900,000 $ 1,765,000 $ 5,128,000 $ 3,625,000
Employee Stock Purchase Plan [Abstract]        
Shares issued under employee stock purchase plan (in shares) | shares     19,270 14,961
ESPP discount | $     $ 11,000 $ 11,000
Employee Stock Purchase Plan        
Share-based Compensation expenses [Abstract]        
Share-based compensation expenses | $ 0 11,000 11,000 11,000
Restricted stock units        
Share-based Compensation expenses [Abstract]        
Share-based compensation expenses | $ $ 0 309,000 $ 81,000 773,000
Number of Units        
Unvested, at beginning of period (in shares) | shares     14,000  
Granted (in shares) | shares     0  
Vested (in shares) | shares     (12,000)  
Forfeited (in shares) | shares     (2,000)  
Unvested, at end of period (in shares) | shares 0   0  
Weighted Average Grant Date Fair Value        
Unvested, at beginning of period (in dollars per share)     $ 11.38  
Granted (in dollars per share)     0  
Vested (in dollars per share)     11.14  
Forfeited (in dollars per share)     13.00  
Unvested, at end of period (in dollars per share) $ 0   $ 0  
Grant date fair value of shares vested during the period | $ $ 134,000   $ 134,000  
Unrecognized compensation costs of RSU awards | $ 0   0  
Stock options        
Share-based Compensation expenses [Abstract]        
Share-based compensation expenses | $ $ 1,900,000 1,445,000 $ 5,036,000 2,841,000
Number of Options        
Outstanding at beginning of period (in shares) | shares     3,259,000  
Granted (in shares) | shares     1,211,000  
Exercised, Forfeited, Expired (in shares) | shares     (128,000)  
Outstanding at end of period (in shares) | shares 4,342,000   4,342,000  
Vested or expected to vest at end of period (in shares) | shares 4,194,000   4,194,000  
Exercisable at end of period (in shares) | shares 2,018,000   2,018,000  
Weighted Average Exercise Price        
Outstanding at beginning of period (in dollars per share)     $ 8.14  
Granted (in dollars per share)     4.73  
Exercised, Forfeited, Expired (in dollars per share)     5.11  
Outstanding at end of period (In dollars per share) $ 7.28   7.28  
Vested or expected to vest at end of period (in dollars per share) 7.37   7.37  
Exercisable at end of period (in dollars per share) 10.18   $ 10.18  
Fair Value Assumptions [Abstract]        
Expected dividend yield     0.00%  
Expected term (years)     6 years 1 month 6 days  
Risk-free interest rate     1.00%  
Weighted average grant date fair value (in dollars per share)     $ 3.61  
Additional Disclosures [Abstract]        
Share price (in dollars per share) $ 4.36   $ 4.36  
Intrinsic value of options granted | $     $ 159,000  
Compensation Cost Not yet Recognized [Abstract]        
Unrecognized compensation expense related to non-vested stock options | $ $ 4,691,000   $ 4,691,000  
Unrecognized compensation cost, recognition period     1 year 9 months 18 days  
Stock options | Minimum        
Fair Value Assumptions [Abstract]        
Expected volatility     95.00%  
Additional Disclosures [Abstract]        
Share price (in dollars per share) $ 3.76   $ 3.76  
Stock options | Maximum        
Fair Value Assumptions [Abstract]        
Expected volatility     100.00%  
Additional Disclosures [Abstract]        
Share price (in dollars per share) $ 5.30   $ 5.30  
Employee Stock        
Employee Stock Purchase Plan [Abstract]        
Number of offering periods | offeringPeriod     2  
Offering period     6 months  
Purchase price of common stock as percentage of fair market value     85.00%  
Manufacture and supply        
Share-based Compensation expenses [Abstract]        
Share-based compensation expenses | $ $ 88,000 72,000 $ 241,000 135,000
Research and development        
Share-based Compensation expenses [Abstract]        
Share-based compensation expenses | $ 230,000 183,000 670,000 365,000
Selling, general and administrative        
Share-based Compensation expenses [Abstract]        
Share-based compensation expenses | $ $ 1,582,000 $ 1,510,000 $ 4,217,000 $ 3,125,000