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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