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Equity Financings and Warrants (Details Textual) - USD ($)
1 Months Ended 6 Months Ended 12 Months Ended
Jul. 31, 2020
Jul. 22, 2020
Jun. 03, 2020
Jul. 31, 2020
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Jul. 14, 2020
Jan. 11, 2017
Equity Financing And Warrants [Line Items]                  
Net proceeds from issuance of common stock       $ 24,100,000 $ 6,061,000 $ 6,517,000      
Common stock, par value         $ 0.001   $ 0.001    
Common stock, shares issued         2,267,570   1,594,070    
JonesTrading                  
Equity Financing And Warrants [Line Items]                  
Percentage of selling commission per additional shares sold                 3.00%
Sales Agreement                  
Equity Financing And Warrants [Line Items]                  
Common stock, shares issued         0   820,561    
Net proceeds from issuance of common stock         $ 0   $ 6,900,000    
Sales Agreement | Subsequent Event                  
Equity Financing And Warrants [Line Items]                  
Net proceeds from issuance of common stock       $ 14,400,000          
Sale of common stock       2,214,301          
Sales Agreement | JonesTrading                  
Equity Financing And Warrants [Line Items]                  
Common stock, par value                 $ 0.001
Aggregate offering price of common stock authorized                 $ 7,300,000
Sales Agreement | JonesTrading | Subsequent Event                  
Equity Financing And Warrants [Line Items]                  
Aggregate offering price of common stock authorized               $ 32,400,000  
2020 Sales Agreement | Subsequent Event                  
Equity Financing And Warrants [Line Items]                  
Net proceeds from issuance of common stock $ 9,700,000                
Sale of common stock 1,423,413                
Aggregate offering price $ 43,900,000 $ 54,000,000              
Direct Offering                  
Equity Financing And Warrants [Line Items]                  
Common stock issued     348,000            
Purchase price per share     $ 9.00            
Pre-funded warrants to purchase shares of common stock     325,500            
Purchase price per warrant     $ 8.999            
Pre-funded warrants outstanding     0            
Net proceeds from issuance of common stock     $ 5,300,000            
Percentage of selling commission per additional shares sold     8.00%