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Equity Incentive Plans - Additional Information (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 9 Months Ended
--- | --- | --- | ---
Aug. 31, 2020 | Feb. 29, 2020 | Aug. 31, 2019 | Feb. 28, 2019 | Jul. 31, 2018 | Sep. 30, 2020 | Jun. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Weighted-average grant-date estimated fair value of options granted |  |  |  |  |  | $ 4.09 |  |  | $ 5.03 |
Proceeds from issuance of common stock under stock plans |  |  |  |  |  |  |  |  | $ 1,593,000 | $ 418,000
Stock-based compensation expenses |  |  |  |  |  | $ 2,527,000 |  | $ 3,879,000 | 8,149,000 | 7,724,000
Proceeds |  |  |  |  |  | $ 459,000 |  | $ 200,000 | 834,000 | 397,000
Issuance of common stock for services, amount |  |  |  |  |  |  |  |  | $ 310,000 | $ 311,000
Employee Stock Purchase Plan [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares issued under ESPP | 94,127 | 75,804 | 77,698 | 83,046 |  |  |  |  |  |
Purchase price | $ 4.88 | $ 4.95 | $ 2.58 | $ 2.39 |  |  |  |  |  |
Proceeds | $ 400,000 | $ 400,000 | $ 200,000 | $ 200,000 |  |  |  |  |  |
Options to Purchase Common Stock [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares, granted |  |  |  |  |  | 460,167 |  |  | 3,109,683 |
Number of options exercised |  |  |  |  |  | 142,191 |  | 4,513 | 346,806 | 6,964
Proceeds from issuance of common stock under stock plans |  |  |  |  |  | $ 300,000 |  | $ 13,000 | $ 800,000 | $ 21,000
Issuance of common stock for services, shares |  |  |  |  |  | 0 |  | 0 | 42,403 | 113,136
Issuance of common stock for services, amount |  |  |  |  |  | $ 300,000 |  | $ 300,000 | $ 300,000 | $ 300,000
Performance-Based Restricted Stock Units (PRSUs) [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares, granted |  |  |  |  | 903,374 |  | 30,000 |  |  |
Number of shares, outstanding |  |  |  |  |  | 866,528 |  |  | 866,528 |
Stock-based compensation expenses |  |  |  |  |  | $ 200,000 |  | $ 2,100,000 | $ 1,600,000 | $ 2,100,000
Time Based Restricted Stock Units [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares, granted |  |  |  |  |  | 0 |  | 0 | 0 | 0
Number of shares issued upon vesting of restricted stock units |  |  |  |  |  | 0 |  | 85,609 | 0 | 85,609

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