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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