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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended
Jan. 31, 2019
Jun. 30, 2020
Mar. 31, 2020
Jun. 30, 2019
Mar. 31, 2019
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Share-based Compensation                
Total grant date fair value of options vested   $ 527   $ 516   $ 1,300 $ 1,200  
Shares available for future issuance (in shares)   156,184       156,184   638,227
Value of share issued   $ 827 $ 315 $ 137 $ 13      
Weighted-average exercise price (per share)   $ 5.65       $ 5.65   $ 7.17
Number of stock options granted (in shares)           787,955    
Options remained outstanding   2,416,629       2,416,629   1,931,903
Employees                
Share-based Compensation                
Weighted-average grant date fair value of options granted   $ 1.84   $ 4.34   $ 1.58 $ 4.07  
2016 Employee Stock Purchase Plan                
Share-based Compensation                
Increase in number of shares available for grant 180,817              
Shares available for future issuance (in shares)   554,343       554,343    
Value of share issued   $ 50   $ 130   $ 50 $ 130  
Number of shares issued (in shares)   22,474   22,405   22,474 22,405