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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares | Dec. 31, 2020 | Dec. 31, 2019
--- | --- | ---
Class Of Stock [Line Items] |  |
Common stock, reserved for future issuance | 2,424,000 | 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 | 1,760,000 | 1,600,000
Authorized for Grants under the 2016 Equity Incentive Plan |  |
Class Of Stock [Line Items] |  |
Common stock, reserved for future issuance | 357,000 | 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

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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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