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Stockholders' Equity - Summary of Outstanding Stock Options Issued to Employees and Directors (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Number of Options, Outstanding, Beginning 7,197,024 7,428,014
Number of Options, Issued 1,069,358 1,156,343
Number of Options, Cancelled/Expired (625,423) (1,387,333)
Number of Options, Outstanding, Ending 7,640,959 7,197,024
Number of Options, Exercisable 6,667,625  
Average remaining term in years, Outstanding, Beginning 4 years 6 months 18 days 5 years 5 months 23 days
Average remaining term in years, Outstanding, Ending 3 years 5 months 23 days 4 years 6 months 18 days
Average remaining term in years, Exercisable 3 years 5 months 23 days  
Aggregate intrinsic value at date of grant, Outstanding, Beginning
Aggregate intrinsic value at date of grant, Outstanding, Ending
Aggregate intrinsic value at date of grant, Exercisable  
Minimum [Member]    
Exercise price per share, Outstanding, Beginning $ 0.40 $ 0.40
Exercise price per share, Issued 0.34 0.45
Exercise price per share, Outstanding, Ending 0.34 0.40
Exercise price per share, Exercisable 0.34  
Maximum [Member]    
Exercise price per share, Outstanding, Beginning 0.87 0.87
Exercise price per share, Issued 0.44 0.73
Exercise price per share, Outstanding, Ending 0.87 $ 0.87
Exercise price per share, Exercisable $ 0.87