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Stock-Based Compensation - Summary of Options and Awards Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Stock-based compensation    
Options and Awards Available for Grant, Outstanding, Beginning balance 764,145  
Options and Awards Available for Grant, Options authorized 512,864  
Options and Awards Available for Grant, Options granted (660,852)  
Options and Awards Available for Grant, Options cancelled/forfeited 183,022  
Options and Awards Available for Grant, Outstanding, Ending balance 638,227 764,145
Number of Options, Outstanding, Beginning balance 1,475,299  
Number of Options, Options granted 660,852  
Number of Options, Options exercised (10,416)  
Number of Options, Options cancelled/forfeited (193,832)  
Number of Options, Outstanding, Ending balance 1,931,903 1,475,299
Number of Options, exercisable 961,162  
Weighted - Average Exercise Price Per Share, Options outstanding, Beginning balance $ 7.60  
Weighted - Average Exercise Price Per Share, Options granted 6.58  
Weighted - Average Exercise Price Per Share, Options exercised 4.69  
Weighted - Average Exercise Price Per Share, Options cancelled/forfeited 8.57  
Weighted - Average Exercise Price Per Share, Options outstanding, Ending balance 7.17 $ 7.60
Weighted - Average Exercise Price Per Share, Options exercisable $ 7.11  
Weighted - Average Remaining Contractual Life, Options outstanding 6 years 6 months 7 years 9 months 18 days
Weighted - Average Remaining Contractual Life, Options exercisable 5 years 4 months 24 days  
Aggregate Intrinsic Value, Options outstanding $ 188 $ 284
Aggregate Intrinsic Value, Options exercised 24  
Aggregate Intrinsic Value, Options exercisable $ 187  
Restricted stock units    
Stock-based compensation    
Options and Awards Available for Grant, RSUs granted (183,402)  
Options Available for Grant, RSUs cancelled/forfeited 22,450