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Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Oct. 07, 2016
Feb. 28, 2018
Dec. 31, 2019
Dec. 31, 2018
Jan. 31, 2018
Share-based Compensation          
Total grant date fair value of options vested     $ 2,300,000 $ 1,900,000  
Weighted-average grant date fair value of options granted     $ 4.06 $ 4.45  
Shares available for future issuance (in shares)     638,227 764,145  
Value of share issued     $ 282,000 $ 2,503,000  
Number of vested and unvested stock option award modified   400,000      
Weighted-average exercise price (per share)     $ 7.17 $ 7.60  
Number of stock options granted (in shares)     660,852    
Options remained outstanding     1,931,903 1,475,299  
Immediate vesting          
Share-based Compensation          
Incremental modification value   $ 63,000      
Remaining vesting          
Share-based Compensation          
Incremental modification value   $ 537,000      
Chief Executive Officer          
Share-based Compensation          
Weighted-average exercise price (per share)   $ 7.64     $ 16.25
Incremental modification value   $ 600,000      
2016 Employee Incentive Plan          
Share-based Compensation          
Maximum number of common stock shares may be issued under the plan 500,000        
Annual increases in the number of shares available for issuance, percentage of outstanding capital stock 3.00%        
2008 Equity Incentive Plan          
Share-based Compensation          
Vesting period     4 years    
Exercise period     10 years    
Number of stock options granted (in shares)     0    
Options remained outstanding     386,554    
2008 Equity Incentive Plan | Incentive Stock Options | Minimum          
Share-based Compensation          
Percentage of exercise price of fair market value of stock at the date of grant     100.00%    
2008 Equity Incentive Plan | Incentive Stock Options | Maximum          
Share-based Compensation          
Percentage of exercise price of fair market value of stock at the date of grant     110.00%    
2016 Employee Stock Purchase Plan          
Share-based Compensation          
Shares available for future issuance (in shares)     396,000    
Value of share issued     $ 232,000 $ 266,000  
Number of shares issued (in shares)     44,344 42,327