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Stockholders' Equity - Additional Information (Details) - shares | Mar. 31, 2021 | Feb. 28, 2021 | Jan. 31, 2021 | Dec. 31, 2020
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Class Of Stock [Line Items] |  |  |  |  |
Common stock, reserved for future issuance | [1] | 2,884,000 |  |  | 2,424,000
2021 Inducement Plan |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |
Shares available for grant |  |  | 300,000 |  |
Common stock, reserved for future issuance | [1],[2] | 192,000 |  |  | 0
2016 Equity Incentive Plan |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |
Common stock, reserved for future issuance | [1],[3] | 303,000 |  |  | 357,000
2016 Equity Incentive Plan | NimbeLink |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |
Common stock, reserved for future issuance |  |  |  | 22,871 |
[1] | Treasury stock in the amount of 534,000 as of March 31, 2021 and December 31, 2020 are excluded from the table above.
[2] | On January 7, 2021, 300,000 shares were authorized pursuant to the terms of the Inducement Plan; 110,000 shares were issued under the inducement plan during the three months ended March 31, 2021
[3] | On January 1, 2021, the number of authorized shares in the 2016 Equity Incentive Plan increased by 391,356 shares pursuant to the evergreen provisions of the 2016 Equity Incentive Plan.

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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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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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