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Term Loan - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
Sep. 30, 2019
Nov. 30, 2018
May 31, 2017
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Debt Instrument [Line Items]              
Fair value adjustment to derivative liability           $ 30,000  
Solar Capital Ltd. and Silicon Valley Bank | 2017 Loan Agreement              
Debt Instrument [Line Items]              
Loan and security agreement, amount     $ 10,000,000        
Loan agreement, maturity date     May 01, 2021        
Amortization of debt discount         $ 66,000   $ 116,000
Prepayment premium thereafter           1.00%  
Final payment fee           $ 250,000  
Amortization of final payment fee         $ 27,000   $ 57,000
Payment of final fee $ 325,000            
Solar Capital Ltd. and Silicon Valley Bank | 2017 Loan Agreement | Libor              
Debt Instrument [Line Items]              
Basis spread on variable base rate     8.45%        
Solar Capital Ltd. and Silicon Valley Bank | First Amendment to Loan and Security Agreement              
Debt Instrument [Line Items]              
Final payment fee   $ 325,000          
Solar Capital Ltd. and Silicon Valley Bank | 2019 Loan Agreement              
Debt Instrument [Line Items]              
Loan and security agreement, amount $ 20,000,000            
Loan agreement, maturity date Sep. 17, 2023            
Amortization of debt discount       $ 85,000   166,000  
Final payment fee           500,000  
Amortization of final payment fee       $ 40,000   $ 80,000  
Loan agreement, term 4 years            
Debt instrument, interest rate terms           The interest rate under the 2019 Loan Agreement is the higher of (i) LIBOR plus 7.95% or (ii) 10.18%  
Debt instrument, effective interest rate       10.18%   10.18%  
Exit fee, percentage           4.00%  
Exit fee           $ 800,000  
Derivative liability recorded against exit fee obligation       $ 763,000   763,000  
Fair value adjustment to derivative liability           30,000  
Unpaid borrowings       $ 20,000,000   $ 20,000,000  
Prepayment premium percentage after year two           0.50%  
Increase in interest rate on default           5.00%  
Solar Capital Ltd. and Silicon Valley Bank | 2019 Loan Agreement | Minimum              
Debt Instrument [Line Items]              
Interest rate, minimum       10.18%   10.18%  
Prepayment premium percentage           1.00%  
Solar Capital Ltd. and Silicon Valley Bank | 2019 Loan Agreement | Maximum              
Debt Instrument [Line Items]              
Prepayment premium percentage           3.00%  
Solar Capital Ltd. and Silicon Valley Bank | 2019 Loan Agreement | Libor              
Debt Instrument [Line Items]              
Basis spread on variable base rate           7.95%