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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, 2020
Dec. 31, 2019
Stock-based compensation    
Options and Awards Available for Grant, Outstanding, Beginning balance 638,227  
Options and Awards Available for Grant, Options authorized 542,452  
Options and Awards Available for Grant, Options granted (894,955)  
Options and Awards Available for Grant, Options cancelled/forfeited 306,237  
Options and Awards Available for Grant, Outstanding, Ending balance 179,219 638,227
Number of Options, Outstanding, Beginning balance 1,931,903  
Number of Options, Options granted 894,955  
Number of Options, Options exercised (223,463)  
Number of Options, Options cancelled/forfeited (330,490)  
Number of Options, Outstanding, Ending balance 2,272,905 1,931,903
Number of Options, exercisable 1,048,021  
Weighted - Average Exercise Price Per Share, Options outstanding, Beginning balance $ 7.17  
Weighted - Average Exercise Price Per Share, Options granted 2.74  
Weighted - Average Exercise Price Per Share, Options exercised 5.23  
Weighted - Average Exercise Price Per Share, Options cancelled/forfeited 7.45  
Weighted - Average Exercise Price Per Share, Options outstanding, Ending balance 5.58 $ 7.17
Weighted - Average Exercise Price Per Share, Options exercisable $ 7.28  
Weighted - Average Remaining Contractual Life, Options outstanding 7 years 10 months 24 days 6 years 6 months
Weighted - Average Remaining Contractual Life, Options exercisable 6 years 9 months 18 days  
Aggregate Intrinsic Value, Options outstanding $ 1,640 $ 188
Aggregate Intrinsic Value, Options exercised 355  
Aggregate Intrinsic Value, Options exercisable $ 13  
Restricted stock units    
Stock-based compensation    
Options and Awards Available for Grant, RSUs granted (469,304)  
Options Available for Grant, RSUs cancelled/forfeited 56,562