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Stockholders' Equity - Additional Information (Details) - shares
Mar. 31, 2021
Feb. 28, 2021
Jan. 31, 2021
Dec. 31, 2020
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.