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Equity Incentive Plans and Stock-Based Compensation - Summary of Restricted Stock Activity (Details) - Restricted stock awards - $ / shares
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]    
Outstanding and unvested, beginning balance (in shares) 126,522  
Issued (in shares) 0 0
Vested (in shares) (30,277)  
Repurchases (in shares) 0  
Outstanding and unvested, ending balance (in shares) 96,245  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]    
Weighted-Average Grant Date fair value, Outstanding and unvested, beginning balance (USD per share) $ 1.85  
Weighted-Average Grant Date fair value, Issued (USD per share) 0  
Weighted-Average Grant Date fair value, Vested (USD per share) 1.69  
Weighted-Average Grant Date fair value, Repurchases (USD per share) 0  
Weighted-Average Grant Date fair value, Outstanding and unvested, ending balance (USD per share) $ 1.90