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Debt - Additional Information (Details) - USD ($) | 1 Months Ended | 2 Months Ended | 12 Months Ended
--- | --- | --- | ---
Oct. 31, 2020 | Aug. 31, 2020 | Jun. 30, 2020 | Apr. 30, 2020 | Mar. 31, 2020 | Feb. 29, 2020 | Dec. 31, 2019 | Feb. 28, 2018 | Sep. 30, 2019 | Dec. 31, 2020
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Estimated air value of warrants issued |  |  |  |  |  |  |  |  |  | $ 300,000
Estimated value of put option liability |  |  |  |  |  |  | $ 3,261,000 |  |  | $ 3,400,000
Common Stock |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Debt instrument converted to common stock |  |  |  |  |  |  |  |  |  | 20,091
March 2020 Notes |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Interest rate |  |  |  |  | 3.00% |  |  |  |  |
Convertible notes payable |  |  |  |  | $ 10,000,000.0 |  |  |  |  |
Convertible notes, maturity date |  |  |  |  | Aug. 31, 2020 |  |  |  |  |
Extended debt instrument date |  | Jun. 30, 2021 |  |  |  |  |  |  |  |
Percentage of conversion price per share of common stock | 80.00% |  |  |  | 80.00% |  |  |  |  |
Estimated value of put option liability |  |  |  |  | $ 2,500,000 |  |  |  |  |
Debt instrument converted to common stock | 703,503 |  |  |  |  |  |  |  |  |
March 2020 Notes | Common Stock |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Conversion price | $ 14.40 |  |  |  |  |  |  |  |  |
March 2020 Notes | First Tranche |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Convertible notes payable |  |  |  |  | $ 5,000,000.0 |  |  |  |  |
March 2020 Notes | Second Tranche |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Convertible notes payable |  |  | $ 5,000,000.0 |  |  |  |  |  |  |
December 2019 Notes |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Interest rate |  |  |  |  |  |  | 3.00% |  |  |
Convertible notes payable |  |  |  |  |  |  | $ 6,000,000.0 |  |  |
Convertible notes, maturity date |  |  |  |  |  |  | Aug. 31, 2020 |  |  |
Extended debt instrument date |  | Jun. 30, 2021 |  |  |  |  |  |  |  |
Percentage of conversion price per share of common stock | 80.00% |  |  |  |  |  | 80.00% |  |  |
Estimated value of put option liability |  |  |  |  |  |  | $ 1,500,000 |  |  |
Debt instrument converted to common stock | 426,386 |  |  |  |  |  |  |  |  |
December 2019 Notes | Common Stock |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Conversion price | $ 14.40 |  |  |  |  |  |  |  |  |
December 2019 Notes | First Tranche |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Convertible notes payable |  |  |  |  |  |  | 3,000,000.0 |  |  |
December 2019 Notes | Second Tranche |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Convertible notes payable |  |  |  |  |  | $ 3,000,000.0 |  |  |  |
August 2019 Notes |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Interest rate |  |  |  |  |  |  |  |  | 3.00% |
Convertible notes payable |  |  |  |  |  |  |  |  | $ 10,000,000.0 |
Convertible notes, maturity date |  |  |  |  |  |  |  |  | Aug. 31, 2020 |
Extended debt instrument date |  | Jun. 30, 2021 |  |  |  |  |  |  |  |
Percentage of conversion price per share of common stock | 80.00% |  |  |  |  |  |  |  | 95.00% |
Estimated value of put option liability |  |  |  |  |  |  | $ 2,500,000 |  | $ 500,000 |
Debt instrument converted to common stock | 718,391 |  |  |  |  |  |  |  |  |
Percentage of conversion price per share of preferred stock |  |  |  |  |  |  | 80.00% |  |  |
Increase to put option liability |  |  |  |  |  |  | $ 2,000,000.0 |  |  |
August 2019 Notes | Common Stock |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Conversion price | $ 14.40 |  |  |  |  |  |  |  |  |
Series H Convertible Preferred Stock | March 2020 Notes |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Conversion rate |  |  |  |  | 80.00% |  |  |  |  |
Conversion price |  |  |  |  | $ 1.15 |  |  |  |  |
Series H Convertible Preferred Stock | December 2019 Notes |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Conversion rate |  |  |  |  |  |  | 80.00% |  |  |
Conversion price |  |  |  |  |  |  | $ 1.15 |  |  |
Series H Convertible Preferred Stock | August 2019 Notes |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Conversion price |  |  |  |  |  |  |  |  | $ 1.15 |
Percentage of conversion price per share of preferred stock |  |  |  |  |  |  |  |  | 95.00% |
2018 Notes |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Loan principle amount |  |  |  |  |  |  | $ 24,270,000 | $ 23,000,000.0 |  | $ 24,972,000
Facility fee amount |  |  |  |  |  |  |  | 200,000 |  |
Estimated air value of warrants issued |  |  |  |  |  |  |  | $ 300,000 |  |
Interest rate |  |  |  |  |  |  |  | 10.00% |  |
Percentage of interest rate, paid in cash |  |  |  |  |  |  |  | 7.50% |  |
Percentage of interest rate added to principal value of notes payable |  |  |  |  |  |  |  | 2.50% |  |
Interest added to principal value |  |  |  |  |  |  | $ 1,100,000 |  |  | $ 1,700,000
Frequency of periodic payment |  |  |  |  |  |  |  |  |  | Commencing March 2021 and continuing through the maturity date February 2023, the outstanding principal is repayable in 24 equal monthly installments.
Debt instrument, prepayment penalty |  |  |  |  |  |  |  | 3.00% |  |
Debt instrument, back-end facility fee |  |  |  |  |  |  |  | 2.00% |  |
Debt instrument, additional interest expense fee |  |  |  |  |  |  |  | 2.00% |  |
2018 Notes | Minimum |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Early amortization of loan payment schedule |  |  |  |  |  |  |  | 24 months |  |
2018 Notes | Maximum |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Early amortization of loan payment schedule |  |  |  |  |  |  |  | 36 months |  |
2018 Notes | Series G Preferred Stock |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Warrant issued to purchase shares |  |  |  |  |  |  |  | 613,333 |  | 613,333
PPP Loan |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Loan description |  |  |  |  |  |  |  |  |  | The PPP Loan matures on the two-year anniversary of the funding date, April 2022, and bears interest at a fixed rate of 1.00% per annum. Monthly principal and interest payments, less the amount of any potential forgiveness (as discussed below), will commence in September 2021. The Company did not provide any collateral or guarantees in connection with the PPP Loan, nor did the Company pay any facility charge to obtain the PPP Loan.
PPP Loan | Interest-bearing Deposits |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Interest rate |  |  |  | 1.00% |  |  |  |  |  |
PPP Loan | CARES Act |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Loan principle amount |  |  |  | $ 3,100,000 |  |  |  |  |  | $ 3,107,000
Percentage for non-payroll costs |  |  |  | 40.00% |  |  |  |  |  |
Upper limit of employee salary to reduce forgiveness |  |  |  | $ 100,000 |  |  |  |  |  |
Percentage of upper limit of employee salary to reduce forgiveness |  |  |  | 25.00% |  |  |  |  |  |
PPP Loan | Minimum | CARES Act |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Payroll costs excludes compensation of an employee |  |  |  | $ 100,000 |  |  |  |  |  |

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- Definition Dividend or interest rate associated with the financial instrument issued in exchange for the original debt being converted in a noncash or part noncash transaction. Noncash are transactions that affect recognized assets or liabilities but that do not result in cash receipts or cash payments. Part noncash refers to that portion of the transaction not resulting in cash receipts or cash payments. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 50 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=121583591&loc=d3e4304-108586 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 50 -Paragraph 5 -URI http://asc.fasb.org/extlink&oid=121583591&loc=d3e4332-108586 + Details
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