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Stockholders' Equity - Additional Information (Details) $ / shares in Units, $ in Thousands |  |  | 1 Months Ended | 3 Months Ended | 6 Months Ended |
--- | --- | --- | --- | --- | --- | ---
Feb. 03, 2021 USD ($) Investor $ / shares shares | Jul. 14, 2020 USD ($) | Aug. 10, 2021 shares | Mar. 27, 2021 USD ($) shares | Aug. 31, 2020 USD ($) $ / shares shares | Sep. 30, 2019 | Jun. 30, 2021 USD ($) $ / shares shares | Jun. 30, 2020 USD ($) | Mar. 31, 2020 shares | Jun. 30, 2021 USD ($) $ / shares shares | Jun. 30, 2020 USD ($) shares | Dec. 31, 2020 $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Common stock, shares authorized | shares |  |  |  |  |  |  | 200,000,000 |  |  | 200,000,000 |  | 200,000,000
Common stock, par value | $ / shares |  |  |  |  |  |  | $ 0.0001 |  |  | $ 0.0001 |  | $ 0.0001
Preferred stock, shares authorized | shares |  |  |  |  |  |  | 10,000,000 |  |  | 10,000,000 |  |
Preferred stock, par value | $ / shares |  |  |  |  |  |  | $ 0.0001 |  |  | $ 0.0001 |  |
Common stock, shares outstanding | shares |  |  |  |  |  |  | 29,382,806 |  |  | 29,382,806 |  | 24,753,102
Stock-based compensation expense |  |  |  |  |  |  | $ 1,064 | $ 1,350 |  | $ 2,108 | $ 2,137 |
Unamortized stock compensation for stock options |  |  |  |  |  |  | $ 10,800 |  |  | $ 10,800 |  |
Weighted-average recognition period of stock option unamortized |  |  |  |  |  |  |  |  |  | 2 years 10 months 24 days |  |
Employee Stock [Member] |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Repricing of outstanding options | shares |  |  |  |  |  |  | 3,839,951 |  |  | 3,839,951 |  | 2,463,317
Exercise price of repriced options per share | $ / shares |  |  |  |  |  |  |  |  |  | $ 2.72 |  |
Retention stock options issued to purchase common shares | shares |  |  |  |  |  |  |  |  |  | 1,750,580 |  |
Equity Unit Purchase Agreements |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Number Of Institutional Investors | Investor | 2 |  |  |  |  |  |  |  |  |  |  |
Shares upon exercise of warrants | shares | 1,285,713 |  |  |  |  |  |  |  |  |  |  |
Gross proceeds from issuance of common stock | $ 30,000 |  |  |  |  |  |  |  |  |  |  |
Proceeds from issuance of common stock | $ 29,900 |  |  |  |  |  |  |  |  |  |  |
2019 ATM Facility |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Commission rate |  |  |  |  |  | 3.00% |  |  |  |  |  |
Common Stock |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock, Shares | shares |  |  |  |  |  |  |  |  | 83,662 |  |  |
Common Stock | Purchase Agreement | Lincoln Park Capital Fund, LLC |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock, Shares | shares |  |  | 0 | 65,374 |  |  |  |  |  |  |  |
Stock issuance costs |  |  |  | $ 400 |  |  |  |  |  |  |  |
Estimated maximum amount of common stock issuable |  |  |  | $ 15,000 |  |  |  |  |  |  |  |
Term of purchase agreement |  |  |  | 36 months |  |  |  |  |  |  |  |
Fair market value of commitment shares |  |  |  | $ 200 |  |  |  |  |  |  |  |
Common Stock | Underwritten Public Offering [Member] |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock, Shares | shares |  |  |  |  | 5,461,169 |  |  |  |  |  |  |
Sale of stock, price per share | $ / shares |  |  |  |  | $ 7.00 |  |  |  |  |  |  |
Gross proceeds from issuance of common stock |  |  |  |  | $ 38,200 |  |  |  |  |  |  |
Proceeds from issuance of common stock |  |  |  |  | $ 35,700 |  |  |  |  |  |  |
Common Stock | Over-Allotment Option [Member] |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock, Shares | shares |  |  |  |  | 461,169 |  |  |  |  |  |  |
Common Stock | Equity Unit Purchase Agreements |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock, Shares | shares | 4,285,710 |  |  |  |  |  |  |  |  |  |  |
Common Stock | 2019 ATM Facility |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock, Shares | shares |  |  |  |  |  |  |  |  |  |  | 174,649 |
Proceeds from issuance of common stock |  |  |  |  |  |  |  |  |  |  | $ 800 |
Common stock shares maximum aggregate offering price |  |  |  |  |  |  |  |  |  | $ 8,450 |  |
Common Stock | 2020 ATM Facility |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock, Shares | shares |  |  | 0 |  |  |  |  |  |  | 788,685 |  |
Gross proceeds from issuance of common stock |  |  |  |  |  |  |  |  |  | $ 10,400 |  |
Proceeds from issuance of common stock |  |  |  |  |  |  |  |  |  | 10,000 |  |
Common stock shares maximum aggregate offering price |  | $ 150,000 |  |  |  |  |  |  |  |  |  |
Stock issuance costs |  |  |  |  |  |  |  |  |  | $ 400 |  |
Common Stock Warrants | Equity Unit Purchase Agreements |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Sale of stock, price per share | $ / shares | $ 25.00 |  |  |  |  |  |  |  |  |  |  |
Gross proceeds from issuance of common stock | $ 25,000 |  |  |  |  |  |  |  |  |  |  |
Warrants exercisable, per share exercise price | $ / shares | $ 14.00 |  |  |  |  |  |  |  |  |  |  |

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