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Stock-Based Compensation - Additional Information (Details) - USD ($)	1 Months Ended		3 Months Ended						9 Months Ended
	Jan. 31, 2019	Feb. 28, 2018	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Sep. 30, 2018	Jun. 30, 2018	Mar. 31, 2018	Sep. 30, 2019	Sep. 30, 2018	Dec. 31, 2018	Jan. 31, 2018
Share-based Compensation
Total grant date fair value of options vested			$ 557,000			$ 510,000			$ 1,800,000	$ 1,400,000
Shares available for future issuance (in shares)			669,159						669,159		764,145
Value of share issued			$ 28,000	$ 137,000	$ 13,000	1,332,000	$ 723,000	$ 309,000
Weighted-average exercise price (per share)			$ 7.25						$ 7.25		$ 7.60
Number of stock options granted (in shares)									587,852
Options remained outstanding			1,907,712						1,907,712		1,475,299
Stock-based compensation expense			$ 895,000			$ 722,000			$ 2,397,000	$ 2,064,000
Immediate vesting
Share-based Compensation
Incremental modification value		$ 63,000
Remaining vesting
Share-based Compensation
Incremental modification value		$ 537,000
Chief Executive Officer
Share-based Compensation
Number of vested and unvested stock option award modified		400,000
Weighted-average exercise price (per share)		$ 7.64										$ 16.25
Incremental modification value		$ 600,000
Employees
Share-based Compensation
Weighted-average grant date fair value of options granted			$ 4.49			$ 4.48			$ 4.11	$ 4.56
2016 Employee Stock Purchase Plan
Share-based Compensation
Increase in number of shares available for grant	170,955
Shares available for future issuance (in shares)			417,939						417,939
Value of share issued									$ 130,000	$ 137,000
Number of shares issued (in shares)									22,405	20,057

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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