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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Parenthetical) (Details) - shares | Jan. 07, 2021 | Jan. 01, 2021 | Mar. 31, 2021 | Dec. 31, 2020
--- | --- | --- | --- | ---
Class Of Stock [Line Items] |  |  |  |
Treasury stock, shares at cost |  |  | 534,000 | 534,000
2016 Equity Incentive Plan |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Number of authorized shares increased |  | 391,356 |  |
2016 Employee Stock Purchase Plan |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Number of authorized shares increased |  | 98,000 |  |
2021 Inducement Plan |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Number of authorized shares | 300,000 |  |  |
Number of shares issued | 110,000 |  |  |

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