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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Parenthetical) (Details) - shares |  | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jan. 01, 2021 | Jun. 30, 2021 | Jan. 07, 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 |  | 147,500 |  |

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- Definition Number of shares authorized for issuance under share-based payment arrangement. + 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 -Subparagraph (a)(3) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Number of previously issued common shares repurchased by the issuing entity and held in treasury. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 30 -Section 45 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=6405813&loc=d3e23239-112655 + Details
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