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Stock Option Plans - Schedule of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2020
Sep. 30, 2020
Sep. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]                    
Beginning balance, available for grant (in shares)       1,550,628 1,648,038 1,550,628 1,648,038 1,648,038 1,589,381  
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 2,435,837  
Options granted     125,183       183,109 209,908 46,005  
Options exercised (in shares)   (3,475)       (6,821)   (1,392)    
Options cancelled (in shares)   (123,789) (13,811)     (138,886) (106,477) (112,498) (104,662)  
Ending balance, available for grant (in shares)               1,550,628 1,648,038 1,589,381
Ending balance, Options outstanding (in shares) 2,327,423 2,327,423 2,453,812 2,454,687 2,342,440 2,327,423 2,453,812 2,473,130 2,377,180 2,435,837
Exercisable at period end (in shares) 2,211,723 2,211,723 1,984,257     2,211,723 1,984,257 2,079,809    
Weighted Average Exercise Price per Share                    
Beginning of period (in usd per share)   $ 4.74 $ 4.84 $ 4.67 $ 4.79 $ 4.67 $ 4.79 $ 4.79 $ 4.80  
Options granted (in shares)     3.14       3.14 3.14 4.34  
Options exercised (in dollars per share)   3.80       3.78   3.86    
Options cancelled (in usd per share)   5.91 4.58     5.72 4.34 4.34 4.70  
End of period (in usd per share) $ 4.68 4.68 4.69 $ 4.74 $ 4.84 4.68 4.69 4.67 $ 4.79 $ 4.80
Exercisable at end of period (in usd per share) $ 4.74 $ 4.74 $ 4.95     $ 4.74 $ 4.95 $ 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 8 years 4 months 17 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 6 years 7 months 24 days    
Aggregate Intrinsic Value                    
Options outstanding, aggregate intrinsic value $ 167 $ 167 $ 0 $ 0 $ 0 $ 167 $ 0 $ 0 $ 0 $ 0
Options exercisable, aggregate intrinsic value $ 111 $ 111 $ 0     $ 111 $ 0 $ 0    
Share Price $ 4.00 $ 4.00       $ 4.00        
Previously Reported                    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]                    
Beginning balance, options outstanding (in shares)       2,473,198   2,473,198        
Ending balance, Options outstanding (in shares)               2,473,198    
Restricted Stock [Member]                    
Aggregate Intrinsic Value                    
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number 37,051 37,051   0   37,051   0    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value $ 4,000.00 $ 4,000.00   $ 0   $ 4,000.00   $ 0    
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted 123,501 123,501       123,501        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value   $ 4,000.00       $ 4,000.00        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period   (86,450)       (86,450)        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Weighted Average Grant Date Fair Value   $ 4,000.00       $ 4,000.00