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Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended 6 Months Ended
Apr. 30, 2020
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Jan. 01, 2020
Dec. 31, 2019
Jan. 01, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock, shares issued 15,442,303 44,599,847   44,599,847     29,084,437  
Public offering price of common stock $ 4.75              
Additional commons stock shares issued 3,789,473              
Proceeds from issue of common stock $ 129.1              
Underwriter's discount and commission 8.2              
Offering cost $ 0.7              
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.        
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           1,163,377   965,603
Common stock available for future issuance   1,341,292   1,341,292        
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   239,400 159,600 1,444,400 1,201,900      
Stock options to purchase common stock aggregate fair value   $ 1.2 $ 0.7 $ 7.6 $ 6.9      
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   0 0 25,928 20,132      
Aggregate cash proceeds from sale of shares       $ 0.2 $ 0.1      
Maximum                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Maximum ownership percentage for outstanding warrants to purchase shares of common stock to be exercised 19.99%              
Pre Funded Warrants                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock, shares issued 13,610,328              
Public offering price of common stock $ 4.7499