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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019
Operating Loss Carryforwards [Line Items] |  |  |  |
Income tax expense |  | $ 0 |  | $ 0
Percentage of valuation allowance against deferred tax assets | [1] | 100.00% |  |
Decrease in deferred tax assets valuation allowance |  | $ 6,540,000 | [1] | 3,428,000
New York State [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards net, expected to expire unutilized and unavailable to offset future federal taxable income |  | 168,826,000 |  |
New York City [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards net, expected to expire unutilized and unavailable to offset future federal taxable income |  | $ 153,056,000 |  |
Earliest Tax Year [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Open tax period |  | Dec. 31, 1998 |  |
Latest Tax Year [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Open tax period |  | Dec. 31, 2020 |  |
Federal [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards |  | $ 260,622,000 |  | 246,347,000
Operating loss carryforwards, annual limitation |  | 27,500 |  |
Operating loss carryforwards net, expected to expire unutilized and unavailable to offset future federal taxable income |  | 206,112,000 |  |
Operating loss carryforwards available for offset future taxable income |  | 54,510,000 |  |
Operating loss carryforwards for unlimited period |  | 52,773,000 |  |
Federal [Member] | Expire Between 2019 and 2037 [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards available for offset future taxable income |  | $ 1,737,000 |  |
Federal [Member] | Earliest Tax Year [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards, expiration dates |  | 2020 |  |
Federal [Member] | Latest Tax Year [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards, expiration dates |  | 2037 |  |
Federal [Member] | Research and Development Tax Credit Carryforwards [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforwards |  | $ 5,458,000 |  | 5,292,000
Tax credit carryforwards, expiration dates |  | 2040 |  |
Tax credit carryforwards expected to expire unutilized |  | $ 346,000 |  |
State and City [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards |  | $ 23,641,000 |  | 23,623,000
Operating loss carryforwards, expiration dates |  | 2040 |  |
Foreign [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards |  | $ 30,880,000 |  | 26,141,000
Federal and State [Member] | Earliest Tax Year [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Open tax period |  | Dec. 31, 2017 |  |
Federal and State [Member] | Latest Tax Year [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Open tax period |  | Dec. 31, 2020 |  |
Minimum [Member] | State and City [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards |  | $ 26,414,000 |  | 27,311,000
Maximum [Member] | State and City [Member] |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards |  | $ 192,466,000 |  | $ 180,611,000
[1] | 100

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