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Stock Option Plans - Schedule of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2020
Apr. 01, 2020
Jan. 01, 2020
Jun. 30, 2019
Apr. 01, 2019
Jan. 01, 2019
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Mar. 31, 2020
Dec. 31, 2019
Mar. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]                            
Beginning balance, available for grant   2,591,909 1,550,628   1,653,674 1,648,039 2,591,909 1,653,674 1,550,628 1,648,039        
Beginning balance, Options outstanding (in shares)   2,458,091 2,473,130   2,371,545 2,377,180 2,458,091 2,371,545 2,473,130 2,377,180        
Options exercised (in shares)                 (3,346)          
Options granted (in shares)               (57,926)   (57,926)        
Options granted (in shares)               57,926   57,926        
Options cancelled (in shares)             (3,404) (87,031) (15,097) (92,666)        
Ending balance, available for grant (in shares) 2,595,313     1,682,779     2,595,313 1,682,779 2,595,313 1,682,779        
Ending balance, Options outstanding (in shares) 2,454,687     2,342,440     2,454,687 2,342,440 2,454,687 2,342,440        
Exercisable at period end (in shares) 2,251,243     1,865,066     2,251,243 1,865,066 2,251,243 1,865,066        
Weighted Average Exercise Price per Share                            
Beginning of period (in dollars per share)   $ 4.74 $ 4.67   $ 4.85 $ 4.83 $ 4.74 $ 4.85 $ 4.67 $ 4.83        
Options exercised (in dollars per share)                 3.76          
Options granted (in dollars per share)               3.14   3.14        
Options cancelled (in dollars per share)             3.51 4.01 4.17 4.34        
End of period (in dollars per share) $ 4.74     $ 4.84     4.74 4.84 4.74 4.84        
Exercisable at end of period (in usd per share) $ 4.83     $ 5.00     $ 4.83 $ 5.00 $ 4.83 $ 5.00        
Weighted Average Remaining Contractual Term (in Years)                            
Options outstanding, weighted average remaining contractual term (in years) 6 years 3 months 29 days 6 years 6 months 29 days 6 years 10 months 2 days 7 years 1 month 28 days 7 years 2 months 23 days 7 years 5 months 15 days                
Options exercisable, weighted average remaining contractual term (in years) 6 years 2 months 19 days     7 years 3 days                    
Aggregate Intrinsic Value                            
Options outstanding, aggregate intrinsic value $ 0     $ 0     $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0
Options exercisable, aggregate intrinsic value $ 0     $ 0     $ 0 $ 0 $ 0 $ 0        
Stock options                            
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]                            
Options authorized (in shares)                 1,029,588