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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Sep. 30, 2020
Dec. 31, 2019
Class Of Stock [Line Items]    
Common stock, reserved for future issuance 2,439,000 2,238,000
Warrants Issued and Outstanding    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance 51,000 51,000
Stock Option Awards Issued and Outstanding    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance 1,792,000 1,600,000
Authorized for Grants under the 2016 Equity Incentive Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance 340,000 401,000
Authorized for grants under the 2016 Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance 256,000 186,000