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Stockholders' Equity - Company's Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2020
Dec. 31, 2019
OUTSTANDING OPTIONS    
Options granted 100,600  
WEIGHTED-AVERAGE EXERCISE PRICE    
Options granted $ 3.09  
2003 Stock Incentive Plan    
OUTSTANDING OPTIONS    
Outstanding at beginning of period 382,337  
Options exercised (121,056)  
Outstanding at end of period 261,281 382,337
WEIGHTED-AVERAGE EXERCISE PRICE    
Outstanding at beginning of period $ 1.33  
Options granted 1.12  
Outstanding at end of period $ 1.43 $ 1.33
VESTED AND EXPECTED TO VEST    
Weighted-Average Remaining Contractual Term 8 months 12 days 1 year 3 months 18 days
Aggregate Intrinsic Value (in thousands) $ 428  
2013 Equity Incentive Plan    
OUTSTANDING OPTIONS    
Outstanding at beginning of period 4,399,606  
Options granted 1,473,100  
Options exercised 0  
Options forfeited (68,089)  
Outstanding at end of period 5,804,617 4,399,606
WEIGHTED-AVERAGE EXERCISE PRICE    
Outstanding at beginning of period $ 10.43  
Options granted 4.49  
Options forfeited 9.62  
Outstanding at end of period $ 8.93 $ 10.43
VESTED AND EXPECTED TO VEST    
Outstanding options 5,804,617  
Weighted-Average Exercise Price $ 8.93  
Weighted-Average Remaining Contractual Term 6 years 10 months 24 days  
Aggregate Intrinsic Value (in thousands) $ 10  
ADDITIONAL DISCLOSURES    
Outstanding options exercisable at end of period 3,456,330  
Weighted-average exercise price exercisable at end of period $ 9.79  
Weighted-average contractual term (years) exercisable at end of period 5 years 6 months  
Weighted-average contractual term outstanding 6 years 10 months 24 days 6 years 9 months 18 days
Aggregate intrinsic value (in thousands) outstanding at end of period $ 10