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Stockholders' Equity - Issuance of Common Stock and Warrants (Details) |  |  | 1 Months Ended | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | ---
Jun. 21, 2019 $ / shares shares | May 29, 2018 $ / shares shares | May 31, 2018 USD ($) $ / shares shares | Sep. 29, 2019 USD ($) $ / shares | Jun. 30, 2019 USD ($) | Sep. 29, 2019 USD ($) $ / shares | Sep. 30, 2018 USD ($) | Mar. 29, 2019 USD ($) offering | Dec. 30, 2018 $ / shares
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock, par value (in dollars per share) | $ / shares | $ 0.001 |  |  | $ 0.001 |  | $ 0.001 |  |  | $ 0.001
Shares issued price per share (in dollars per share) | $ / shares | $ 0.50 |  |  |  |  |  |  |  |
Net proceeds from issuance of common stock | $ |  |  | $ 13,900,000 | $ 8,000,000 | $ 8,000,000 | $ 9,439,000 | $ 15,859,000 |  |
Shelf registration, number of offerings | offering |  |  |  |  |  |  |  | 1 |
Shelf registration, maximum offering | $ |  |  |  |  |  |  |  | $ 75,000,000 |
Number of common stock contain in each unit |  |  | 1 |  |  |  |  |  |
Number of warrant contain in each unit |  |  | 0.40 |  |  |  |  |  |
Exercise price of each unit | $ / shares |  |  | $ 1.15 |  |  |  |  |  |
Exercisable period of warrants |  | 60 months |  |  |  |  |  |  |
Strike price of warrants (in dollars per share) | $ / shares |  | $ 1.38 |  |  |  |  |  |  |
Fair value assumptions of warrants, expected term |  | 5 years |  |  |  |  |  |  |
Measurement Input, Share Price |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrants and Rights Outstanding, Measurement Input |  | 0.57 |  |  |  |  |  |  |
Measurement Input, Risk Free Interest Rate |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrants and Rights Outstanding, Measurement Input |  | 2.58 |  |  |  |  |  |  |
Measurement Input, Price Volatility |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrants and Rights Outstanding, Measurement Input |  | 52.75 |  |  |  |  |  |  |
Measurement Input, Expected Dividend Rate |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrants and Rights Outstanding, Measurement Input |  | 0 |  |  |  |  |  |  |
Common stock |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Aggregate shares of common stock issued |  |  | 13,500,000 |  |  |  |  |  |
Common stock | Maximum |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrants to purchase aggregate shares of common stock |  | 5,400,000 | 5,400,000 |  |  |  |  |  |
Underwritten Public Offering | Common stock |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Aggregate shares of common stock issued | 18,400,000 |  |  |  |  |  |  |  |
Exercise of Option for Overallotment of Shares by Underwriters | Common stock |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Aggregate shares of common stock issued | 2,400,000 |  |  |  |  |  |  |  |

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