Stock Incentive Plans - Summary of Additional Information on Stock Options Outstanding (Details)	12 Months Ended
	Dec. 31, 2019 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Number Outstanding | shares	4,071,333
Weighted- Average Remaining Contractual Life (Years)	8 years 2 months 23 days
Weighted Average Exercise Price	$ 0.58
Number Exercisable | shares	3,121,333
Weighted Average Exercise Price	$ 0.65
Exercise price range, lower limit (dollars per share)	$ 1.56
Range One
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Number Outstanding | shares	3,847,000
Weighted- Average Remaining Contractual Life (Years)	8 years 3 months 21 days
Weighted Average Exercise Price	$ 0.57
Number Exercisable | shares	2,897,000
Weighted Average Exercise Price	$ 0.64
Exercise price range, lower limit (dollars per share)	0.28
Exercise price range, upper limit (dollars per share)	$ 1.00
Range Two
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Number Outstanding | shares	209,133
Weighted- Average Remaining Contractual Life (Years)	7 years 4 months 17 days
Weighted Average Exercise Price	$ 1.79
Number Exercisable | shares	209,133
Weighted Average Exercise Price	$ 1.79
Exercise price range, upper limit (dollars per share)	$ 1.80
Range Three
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Number Outstanding | shares	15,200
Weighted- Average Remaining Contractual Life (Years)	6 months 7 days
Weighted Average Exercise Price	$ 4.48
Number Exercisable | shares	15,200
Weighted Average Exercise Price	$ 4.48
Exercise price range, lower limit (dollars per share)	2.60
Exercise price range, upper limit (dollars per share)	$ 6.35