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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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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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