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Stock Based Compensation - Schedule of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]                
Beginning balance, Options outstanding (in shares) 2,454,687 2,342,440 2,473,130 2,377,180 2,473,130 2,377,180 2,377,180  
Options exercised (in shares) (3,475)       (6,821)      
Options granted (in shares)   125,183       183,109    
Options cancelled (in shares) (123,789) (13,811)     (138,886) (106,477)    
Ending balance, Options outstanding (in shares) 2,327,423 2,453,812 2,454,687 2,342,440 2,327,423 2,453,812 2,473,130 2,377,180
Exercisable at period end (in shares) 2,211,723 1,984,257     2,211,723 1,984,257    
Weighted Average Exercise Price per Share                
Beginning of period (in dollars per share) $ 4.74 $ 4.84 $ 4.67 $ 4.83 $ 4.67 $ 4.83 $ 4.83  
Options exercised (in dollars per share) 3.80       3.78      
Options granted (in dollars per share)   3.14       3.14    
Options cancelled (in dollars per share) 5.91 4.58     5.72 4.34    
End of period (in dollars per share) 4.68 4.69 $ 4.74 $ 4.84 4.68 4.69 $ 4.67 $ 4.83
Exercisable at end of period (in usd per share) $ 4.74 $ 4.95     $ 4.74 $ 4.95    
Weighted Average Remaining Contractual Term (in Years)                
Options outstanding, weighted average remaining contractual term (in years) 6 years 1 month 28 days 7 years 21 days 6 years 3 months 29 days 7 years 1 month 28 days 6 years 1 month 28 days 7 years 21 days 6 years 10 months 2 days 7 years 5 months 15 days
Options exercisable, weighted average remaining contractual term (in years) 6 years 29 days 6 years 10 months 6 days     6 years 29 days 6 years 10 months 6 days    
Aggregate Intrinsic Value (in thousands)                
Options outstanding, aggregate intrinsic value $ 167 $ 0 $ 0 $ 0 $ 167 $ 0 $ 0 $ 0
Options exercisable, aggregate intrinsic value $ 111 $ 0     $ 111 $ 0    
Closing stock price $ 4.00       $ 4.00