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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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Number of additional shares authorized for issuance under share-based payment arrangement.

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Number of shares authorized for issuance under share-based payment arrangement.

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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Number of shares issued under share-based payment arrangement.

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Number of previously issued common shares repurchased by the issuing entity and held in treasury.

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-Name Accounting Standards Codification
-Topic 505
-SubTopic 30
-Section 45
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