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Stockholders' Equity - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
Feb. 28, 2019
Sep. 30, 2019
Sep. 30, 2018
Jun. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Jan. 01, 2019
Jan. 01, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Net proceeds from sale of common stock $ 64,500,000              
Underwriting discounts and commissions 4,100,000              
Offering costs $ 400,000              
Reduction in exercise price of each warrant from public offering price for pre-funded warrants per share $ 0.0001              
Maximum ownership percentage for outstanding warrants to purchase shares of common stock to be exercised 4.99%              
Period after notice received by company maximum ownership percentage to be effective description         The revised Maximum Ownership Percentage would be effective 60 days after the notice is received by the Company.      
Proceeds from Warrant Exercises         $ 0      
2016 Equity Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Percentage of outstanding share of common stock         4.00%      
Additional number of shares available for issuance             965,603 666,807
Common stock available for future issuance   1,560,562     1,560,562      
2016 Equity Incentive Plan | Stock Options                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Stock option to purchase an aggregate of common stock shares   44,000 255,800   1,245,900 1,288,900    
Stock options to purchase common stock aggregate fair value   $ 200,000 $ 1,700,000   $ 7,100,000 $ 7,100,000    
2016 Employee Stock Purchase Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Stock option to purchase an aggregate of common stock shares   24,772 24,977   44,904 55,914    
Aggregate cash proceeds from sale of shares   $ 200,000 $ 100,000   $ 300,000 $ 200,000    
Common Stock                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of shares issued       5,047,000        
Follow-on Public Offering | Common Stock                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of shares issued 4,625,000              
Public offering price $ 8.00              
Public offering price of warrant $ 7.9999              
Follow-on Public Offering | Common Stock | Maximum                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Warrants to purchase shares 4,000,000              
Underwriters' Over-allotment Option                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of shares issued 1,125,000