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Common Stock - Summary of Common Stock Issued and Reserved for Issuance (Details) - shares | Jun. 30, 2020 | Dec. 31, 2019
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Stockholders Deficit [Line Items] |  |
Shares of common stock issued | 18,809,000 | 18,645,000
Shares of common stock reserved for issuance for: |  |
Total shares of common stock issued and reserved for issuance | 23,971,000 | 23,046,000
Common Stock Warrants Outstanding |  |
Shares of common stock reserved for issuance for: |  |
Shares of common stock reserved for issuance | 105,000 | 105,000
Stock Options Outstanding |  |
Shares of common stock reserved for issuance for: |  |
Shares of common stock reserved for issuance | 1,865,000 | 2,415,000
Restricted Stock Units Outstanding |  |
Shares of common stock reserved for issuance for: |  |
Shares of common stock reserved for issuance | 1,289,000 | 245,000
Shares Available for Grant Under Stock Incentive Plan |  |
Shares of common stock reserved for issuance for: |  |
Shares of common stock reserved for issuance | 1,295,000 | 1,215,000
Shares Available for Sales Under Employee Stock Purchase Plan |  |
Shares of common stock reserved for issuance for: |  |
Shares of common stock reserved for issuance | 608,000 | 421,000

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