Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Net operating loss carryforwards	$ 13,958	$ 12,402
Research and development credit carryforwards	2,306	2,069
Patents and fixed assets	693	454
Stock-based compensation	687	659
Operating lease liability		428
Other, net	184	124
Operating lease ROU assets		(424)
Valuation allowance	(17,828)	(15,712)
Total net deferred tax assets