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Stockholders' Equity - Issuance of Common Stock and Warrants (Details)
 3 Months Ended 6 Months Ended
Jul. 21, 2020
USD ($)
shares
Jun. 22, 2020
USD ($)
$ / shares
shares
Jun. 21, 2019
USD ($)
$ / shares
shares
Jun. 28, 2020
USD ($)
offering
$ / shares
shares
Jun. 30, 2019
shares
 [1]
Jun. 28, 2020
USD ($)
offering
$ / shares
shares
Jun. 30, 2019
USD ($)
Dec. 29, 2019
$ / shares
Class Of Stock [Line Items]                
Shelf registration, number of offerings | offering       1   1    
Shelf registration, maximum offering | $       $ 75,000,000   $ 75,000,000    
Common stock, par value (in dollars per share) | $ / shares   $ 0.001 $ 0.001 $ 0.001   $ 0.001   $ 0.001
Shares issued price per share (in dollars per share) | $ / shares   $ 3.50 $ 7.00          
Net proceeds from issuance of common stock | $   $ 7,900,000 $ 8,000,000.0     $ 7,847,000 $ 8,548,000  
Warrants exercisable share of common stock remain outstanding       386,100,000   386,100,000    
Strike price of warrants (in dollars per share) | $ / shares       $ 19.32   $ 19.32    
Subsequent Event                
Class Of Stock [Line Items]                
Net proceeds from issuance of common stock | $ $ 461,000              
Common Stock                
Class Of Stock [Line Items]                
Aggregate shares of common stock issued       2,500,000 1,314,000      
Underwritten Public Offering | Common Stock                
Class Of Stock [Line Items]                
Aggregate shares of common stock issued   2,500,000 1,300,000          
Exercise of Option for Overallotment of Shares by Underwriters | Common Stock                
Class Of Stock [Line Items]                
Aggregate shares of common stock issued   375,000 171,429          
Exercise of Option for Overallotment of Shares by Underwriters | Common Stock | Subsequent Event                
Class Of Stock [Line Items]                
Aggregate shares of common stock issued 141,733              
[1]

Common stock shares and additional paid-in capital amounts as of December 31, 2018, and in the three-months ended March 31, 2019 and June 30, 2019 are adjusted to reflect 1-for-14 reverse stock split effected on December 23, 2019.