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Presentation and Summary of Significant Accounting Policies - Additional Information (Details) $ in Thousands | 3 Months Ended | 6 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
Jun. 30, 2020 USD ($) Customer | Jun. 30, 2019 USD ($) Customer | Jun. 30, 2020 USD ($) Customer | Jun. 30, 2019 USD ($) Customer | Dec. 31, 2019 USD ($) | Dec. 31, 2018 USD ($) | Apr. 15, 2020 USD ($)
Significant Accounting Policies [Line Items] |  |  |  |  |  |  |
Positive (negative) cash flows from operations |  |  | $ (2,777) | $ (16,606) | $ (30,117) | $ (41,770) |
Net loss | $ 11,793 | $ 16,691 | 24,477 | 32,997 | 62,078 | $ 61,104 |
Accumulated deficit | 256,966 |  | 256,966 |  | 232,489 |  |
Proceeds from common stock offerings, net |  |  | 6,527 | $ 11,778 |  |  |
Proceeds from the exercise of warrants |  |  | 2,100 |  |  |  |
Cash and cash equivalents | 50,081 |  | 50,081 |  | $ 44,065 |  |
Transaction price remaining performance obligations | $ 4,463 |  | $ 4,463 |  |  |  |
Sales Revenue, Net [Member] | Customer Concentration Risk [Member] |  |  |  |  |  |  |
Significant Accounting Policies [Line Items] |  |  |  |  |  |  |
Number of major customers | Customer | 10 | 10 | 10 | 10 |  |  |
Concentration risk percentage | 40.00% | 26.00% | 34.00% | 25.00% |  |  |
Customer One [Member] | Sales Revenue, Net [Member] | Customer Concentration Risk [Member] |  |  |  |  |  |  |
Significant Accounting Policies [Line Items] |  |  |  |  |  |  |
Number of major customers | Customer | 1 |  |  |  |  |  |
Concentration risk percentage | 11.00% |  |  |  |  |  |
Other Customer [Member] | Sales Revenue, Net [Member] | Customer Concentration Risk [Member] |  |  |  |  |  |  |
Significant Accounting Policies [Line Items] |  |  |  |  |  |  |
Number of major customers | Customer |  | 0 | 0 | 0 |  |  |
Concentration risk percentage |  | 10.00% | 10.00% | 10.00% |  |  |
Paycheck Protection Program [Member] |  |  |  |  |  |  |
Significant Accounting Policies [Line Items] |  |  |  |  |  |  |
Unsecured loans aggregate amount |  |  |  |  |  |  | $ 6,491
Equity Distribution Agreement [Member] |  |  |  |  |  |  |
Significant Accounting Policies [Line Items] |  |  |  |  |  |  |
Proceeds from common stock offerings, net |  |  | $ 6,006 |  |  |  |
Equity Distribution Agreement [Member] | Maximum [Member] |  |  |  |  |  |  |
Significant Accounting Policies [Line Items] |  |  |  |  |  |  |
Aggregate available offering price, common stock |  |  | $ 18,538 |  |  |  |

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