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Liquidity (Details) - USD ($)
 1 Months Ended 3 Months Ended 6 Months Ended
Jul. 02, 2021
Apr. 16, 2021
Jul. 31, 2021
Jun. 30, 2021
Mar. 31, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Accumulated deficit       $ 124,920,000     $ 124,920,000   $ 117,904,000
Net loss       4,613,000   $ 4,425,000 7,016,000 $ 8,568,000  
Net cash used in operating activities             15,167,000 10,212,000  
Increase in prepaid expenses and other current assets             1,932,000 1,383,000  
Decrease in deferred revenue             5,600,000    
Decrease in accounts payable and accrued expenses             2,500,000    
Amortization of contract asset       300,000   $ 0 1,100,000 $ 0  
Non-cash charges             $ 700,000    
Number of shares of stock (in shares)             157,130    
Milestone payment received       1,000,000.0 $ 1,000,000.0   $ 2,000,000.0    
Potential milestone payments to be received             192,500,000    
Cash and cash equivalents       29,917,000     29,917,000   35,302,000
Restricted cash and cash equivalents       100,000     100,000   100,000
Stock subscription receivable       $ 2,240,000     $ 2,240,000   $ 0
Subsequent Event                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Net proceeds of common stock $ 2,200,000                
Sales Agreement                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Sale of shares, common stock gross proceeds   $ 50,000,000.0              
Percentage gross proceeds from the sale of share (as a percent)   3.00%              
Number of shares of stock (in shares)       786,927          
Stock price per share (in dollars per share)       $ 12.04     $ 12.04    
Net proceeds of common stock       $ 9,000,000.0          
Sales Agreement | Subsequent Event                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Net proceeds of common stock     $ 2,200,000