Stock Based Compensation - Additional Information (Details) - USD ($)	12 Months Ended
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

Grant date fair value of shares vested.

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