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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Jan. 31, 2019
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Share-based Compensation                    
Total grant date fair value of options vested   $ 438     $ 557     $ 1,800 $ 1,800  
Shares available for future issuance (in shares)   148,378           148,378   638,227
Value of share issued   $ 379 $ 827 $ 315 $ 28 $ 137 $ 13      
Weighted-average exercise price (per share)   $ 5.61           $ 5.61   $ 7.17
Number of stock options granted (in shares)               844,455    
Options remained outstanding   2,300,452           2,300,452   1,931,903
Employees                    
Share-based Compensation                    
Weighted-average grant date fair value of options granted   $ 3.62     $ 4.49     $ 1.71 $ 4.11  
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  
Number of shares issued (in shares)               22,474 22,405