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Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2019
Sep. 30, 2019
Dec. 31, 2019
Sep. 30, 2020
Description of Business and Summary of Significant Accounting Policies [Line Items]        
Deferred Revenue     $ 1,100,000 $ 1,100,000
Error corrections        
Description of Business and Summary of Significant Accounting Policies [Line Items]        
Increase in expenses $ 8,000 $ 49,000    
Increase in liabilities     528,000  
Decrease in retained earnings     (777,000)  
Decrease in total assets     (249,000)  
Decrease in cash flows provided by operating activities   (38,000)    
Decrease in cash flows used in investing activities   (79,000)    
Increase in cash flows used in financing activities   $ 41,000    
Accounts receivable        
Description of Business and Summary of Significant Accounting Policies [Line Items]        
Unbilled receivables     $ 500,000 $ 400,000