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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares | Jun. 30, 2021 | Dec. 31, 2020
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Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance |  | 2,851,000 | 2,424,000
Warrants Issued and Outstanding |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1] | 10,000 | 51,000
Stock Option Awards Issued and Outstanding |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1] | 1,919,000 | 1,760,000
Authorized for Grants under the 2016 Equity Incentive Plan |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1],[2] | 424,000 | 357,000
Authorized for grants under the 2016 Employee Stock Purchase Plan |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1],[3] | 343,000 | 256,000
Authorized for Grants under the Inducement Plan |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1],[4] | 155,000 | 0
[1] | Treasury stock in the amount of 534,000 as of June 30, 2021 and December 31, 2020 are excluded from the table above.
[2] | On January 1, 2021, the number of authorized shares in the 2016 Plan increased by 391,356 shares pursuant to the evergreen provisions of the 2016 Plan.
[3] | On January 1, 2021, the number of authorized shares in the 2016 Employee Stock Purchase Plan increased by 98,000 shares pursuant to the evergreen provisions of the 2016 Employee Stock Purchase Plan.
[4] | On January 7, 2021, 300,000 shares were authorized pursuant to the terms of the Inducement Plan; 147,500 shares were issued under the Inducement Plan during the six months ended June 30, 2021

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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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