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Equity Financings and Warrants (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
2 Months Ended 12 Months Ended
Jun. 03, 2020
Feb. 22, 2021
Dec. 31, 2020
Dec. 31, 2019
Jul. 22, 2020
Jul. 14, 2020
Jan. 11, 2017
Equity Financing And Warrants [Line Items]              
Net proceeds from issuance of common stock     $ 50,894 $ 7,281      
Common stock, par value     $ 0.001 $ 0.001      
Common stock, shares issued     9,548,150 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     2,214,301 820,561      
Net proceeds from issuance of common stock     $ 14,400 $ 6,900      
Sales Agreement | JonesTrading              
Equity Financing And Warrants [Line Items]              
Common stock, par value             $ 0.001
Aggregate offering price of common stock authorized           $ 32,400 $ 7,300
2020 Sales Agreement              
Equity Financing And Warrants [Line Items]              
Net proceeds from issuance of common stock     $ 28,900        
Aggregate offering price of common stock authorized         $ 54,000    
Sale of common stock     5,066,279        
2020 Sales Agreement | Subsequent Event              
Equity Financing And Warrants [Line Items]              
Net proceeds from issuance of common stock   $ 23,300          
Sale of common stock   4,861,993          
Direct Offering              
Equity Financing And Warrants [Line Items]              
Common stock issued 348,000   348,000        
Purchase price per share $ 9.00   $ 9.00        
Pre-funded warrants to purchase shares of common stock 325,500   325,500        
Purchase price per warrant $ 8.999   $ 8.999        
Pre-funded warrants outstanding 0   0        
Net proceeds from issuance of common stock $ 5,300   $ 5,300        
Percentage of selling commission per additional shares sold 8.00%   8.00%