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Organization and Operations - Additional Information (Details)
1 Months Ended 2 Months Ended 9 Months Ended 12 Months Ended
Feb. 17, 2021
USD ($)
shares
Oct. 23, 2020
USD ($)
shares
Oct. 02, 2020
shares
Sep. 30, 2020
USD ($)
Jun. 16, 2020
shares
Aug. 05, 2019
$ / shares
Apr. 25, 2019
USD ($)
Apr. 24, 2019
USD ($)
Sep. 21, 2018
USD ($)
Sep. 30, 2019
$ / shares
shares
Feb. 17, 2021
USD ($)
shares
Sep. 30, 2020
USD ($)
shares
Dec. 31, 2020
USD ($)
Subsidiary
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Feb. 28, 2021
shares
Basis Of Presentation And New Accounting Standards [Line Items]                              
Number of wholly-owned subsidiaries | Subsidiary                         5    
Proceeds from sale of business                         $ 0 $ 5,637,000  
Reverse stock split of common stock           0.02                  
Common stock, par value (in dollars per share) | $ / shares           $ 0.001             $ 0.001 $ 0.001  
Net loss                         $ (8,241,000) $ (10,887,000)  
Accumulated deficit                         (433,511,000) (425,270,000)  
Net cash used in operating activities                         (8,434,000) (5,906,000)  
Cash and cash equivalents                         $ 8,346,000 17,552,000  
Substantial doubt about going concern, description                         These factors raise substantial doubt about the Company’s ability to continue as a going concern    
Proceeds from sale of common stock                         $ 4,007,000 15,964,000  
Sale of common stock, net                           2,208,000  
Reimbursement revenue recognized                           $ 4,600,000  
Option granted | shares                         530,000    
Warrant exercise price (in dollars per share) | $ / shares                         $ 2.25    
Maximum [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Option vesting period                         4 years    
Minimum [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Option vesting period                         2 years    
Common Class A [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares                         289,000    
Common Class B [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Number of securities called by warrant or right | shares                         2,711,000    
Common Stock [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares                           184,666  
Warrant exercised | shares                         487,521 65,114  
Series U Warrants [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares                         3,450,000    
Sale of Stock, Price Per Share | $ / shares                         $ 5.00    
Representative Warrants [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Number of securities called by warrant or right | shares                         75,000    
Warrant exercise price (in dollars per share) | $ / shares                         $ 6.25    
2020 Repurchase Agreement [Member] | Common Stock [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares     180,701                 0 353,113    
Proceeds from sale of common stock                         $ 700,000    
Sale of common stock, net                       $ 25,000,000      
Period exercisable from the date of issuance                       36 months      
2020 Repurchase Agreement [Member] | Common Stock [Member] | Maximum [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares         23,800,000                    
Canaccord Genuity LLC [Member] | Common Stock [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares                         1,616,331    
Proceeds from sale of common stock   $ 10,000,000                     $ 3,200,000    
Remaining availability under financing facility   $ 0                          
Lincoln Park Capital Fund, LLC [Member] | Common Stock [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares                           32,170  
Proceeds from sale of common stock                           $ 300,000  
Remaining availability under financing facility                         $ 0    
Sale of common stock, net                 $ 5,000,000            
Period exercisable from the date of issuance                 24 months            
Lincoln Park Capital Fund, LLC [Member] | 2020 Repurchase Agreement [Member] | Common Stock [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares                         353,113    
Proceeds from sale of common stock                         $ 700,000    
Sale of common stock, net       $ 25,000,000                      
Period exercisable from the date of issuance       36 months                      
Underwriter [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Underwritten public offering description                   pursuant to which the Company sold in an underwritten public offering an aggregate of (i) 289,000 Class A Units, each consisting of one share of common stock, par value $0.001 per share, of the Company and one Series U warrant to purchase one share of common stock, and (ii) 2,711,000 Class B Units, each consisting of one pre-funded Series V warrant to purchase one share of common stock and one Series U Warrant to purchase one share of common stock at a public offering price of $5.00 per Class A Unit and $4.9999 per Class B Unit (the “September 2019 Offering”). In addition, the Company granted the Underwriters a 45-day option to purchase up to an additional 450,000 shares of the Company’s common stock and/or Series U Warrants at the public offering price, less the underwriting discounts and commissions. The Underwriters exercised their option to purchase an additional 450,000 Series U warrants. The Company also issued to the Representative warrants (in the form of the Series U warrants) to purchase 75,000 shares of common stock with an exercise price of $6.25 per share of common stock (the “Representative Warrants”).          
Option vesting period                   45 days          
Warrant granted | shares                   450,000          
Underwriter [Member] | Maximum [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Option granted | shares                   450,000          
Underwriter [Member] | Common Class A [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock, par value (in dollars per share) | $ / shares                   $ 0.001          
Common stock issued (in shares) | shares                   289,000          
Underwriter [Member] | Common Stock [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares   1,616,299                          
Proceeds from sale of common stock   $ 3,200,000                          
Underwriter [Member] | Series V Warrants | Common Class B [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Number of securities called by warrant or right | shares                   2,711,000          
Underwriter [Member] | Series U Warrants [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Warrant exercised | shares                   450,000          
Underwriter [Member] | Series U Warrants [Member] | Common Class A [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Sale of Stock, Price Per Share | $ / shares                   $ 5.00          
Underwriter [Member] | Series U Warrants [Member] | Common Class B [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Sale of Stock, Price Per Share | $ / shares                   $ 4.9999          
Underwriter [Member] | Representative Warrants [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Number of securities called by warrant or right | shares                   75,000          
Warrant exercise price (in dollars per share) | $ / shares                   $ 6.25          
Subsequent Event [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Number of securities called by warrant or right | shares                             896,500
Subsequent Event [Member] | 2020 Repurchase Agreement [Member] | Common Stock [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares 985,186                            
Proceeds from sale of common stock $ 2,900,000                            
Subsequent Event [Member] | Canaccord Genuity LLC [Member] | Common Stock [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares 536,070                            
Proceeds from sale of common stock $ 1,500,000                            
Subsequent Event [Member] | Lincoln Park Capital Fund, LLC [Member] | 2020 Repurchase Agreement [Member] | Common Stock [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares                     985,186        
Proceeds from sale of common stock                     $ 2,900,000        
Subsequent Event [Member] | Underwriter [Member] | Common Stock [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Common stock issued (in shares) | shares                     536,070        
Proceeds from sale of common stock                     $ 1,500,000        
Sale of UK Subsidiary and Certain Assets [Member] | Loan and Security Agreement [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Proceeds from sale of business               $ 4,000,000              
Payments for principal, interest and fees               1,700,000              
Sale of the Japanese Subsidiary and Certain Assets [Member] | Loan and Security Agreement [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Proceeds from sale of business             $ 3,000,000                
Payments for principal, interest and fees             1,400,000                
UK Subsidiary and Cell Therapy Assets [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Proceeds from sale of business               3,300,000              
UK Subsidiary and Cell Therapy Assets [Member] | Amendmend to Loan and Security Agreement [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Payments for principal, interest and fees               $ 1,700,000              
Japanese Subsidiary and Cell Therapy Assets [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Proceeds from sale of business             2,400,000                
Japanese Subsidiary and Cell Therapy Assets [Member] | Amendmend to Loan and Security Agreement [Member]                              
Basis Of Presentation And New Accounting Standards [Line Items]                              
Payments for principal, interest and fees             $ 1,400,000