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Stock Based Compensation - Additional Information (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Proceeds from exercise of stock options | $ 1,000,000.0 | $ 700,000
Intrinsic value of stock options exercised | 600,000 | 1,500,000
Stock-based compensation | $ 2,564,000 | $ 2,204,000
Common stock, reserved for future issuance | 2,424,000 | 2,238,000
Weighted average grant-date fair value of options granted | $ 4.30 | $ 4.93
Stock options vested aggregate intrinsic value | $ 8,200,000 | $ 2,300,000
Stock options expected to vest aggregate intrinsic value | 5,300,000 | 300,000
Grant date fair value of shares vested | $ 2,000,000.0 | 2,100,000
Employee Stock Purchase Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Offering period of employee stock purchase plan | 6 months |
Limited percentage of annual contribution | 20.00% |
Percentage of discount and fair value of option | 15.00% |
Proceeds from stock issued during period | $ 200,000 | $ 100,000
Number of stock issued during period | 27,002 | 10,114
Restricted Stock |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Total unrecognized compensation cost | $ 3,000,000.0 | $ 3,200,000
Total unrecognized compensation cost, period for recognition | 2 years 4 months 24 days |
Restricted Stock Units |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Total unrecognized compensation cost | $ 1,500,000 |
Total unrecognized compensation cost, period for recognition | 2 years 7 months 6 days |
Restricted stock units, Grants | 151,000 |
Weighted average grant date fair value, Grants | $ 10.17 |
Restricted stock units, vesting period description | shares vest equally after each of the annual anniversaries, on March 1 of the respective year, over a four-year period |
Restricted Stock Units | Employees |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Restricted stock units, Grants | 135,000 | 81,303
Weighted average grant date fair value, Grants | $ 10.26 | $ 11.46
Restricted stock units, vesting period | 4 years | 4 years
Non-Employee Board of Directors |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Number of stock option value awarded per year |  | $ 30,000
Non-Employee Board of Directors | Restricted Stock Units |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Number of restricted stock units value awarded per year | $ 30,000 |
Board of Directors |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Number of stock option value awarded per year |  | $ 45,000
Board of Directors | Restricted Stock Units |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Number of restricted stock units value awarded per year | $ 45,000 |
Restricted stock units, Grants | 16,165 | 14,175
Weighted average grant date fair value, Grants | $ 9.35 | $ 10.75
Restricted stock units, vesting period description | shares vest on the first anniversary of the grant date | shares vest equally after each of the annual anniversaries, on March 1 of the respective year, over a four-year period.
Minimum |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Service period for stock options granted to employees | 1 year |
Maximum |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Service period for stock options granted to employees | 4 years |
Maximum | Employee Stock Purchase Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Purchase price percentage of market value of common stock | 85.00% |
Authorized for Grants under the 2016 Equity Incentive Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock, reserved for future issuance | 357,000 | 401,000

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