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Stockholders' Equity - Additional Information (Details) - shares
Sep. 30, 2021
Feb. 28, 2021
Dec. 31, 2020
Class Of Stock [Line Items]      
Common stock, reserved for future issuance [1] 2,767,000   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] 116,000   0
2016 Equity Incentive Plan      
Class Of Stock [Line Items]      
Common stock, reserved for future issuance [1],[3] 372,000   357,000
2016 Equity Incentive Plan | NimbeLink      
Class Of Stock [Line Items]      
Common stock, reserved for future issuance 22,871    
[1] The table above excludes 541,000 and 534,000 treasury shares as of September 30, 2021 and December 31, 2020, respectively.
[2] On February 5, 2021, 300,000 shares were authorized pursuant to the terms of the Inducement Plan; 187,700 shares were issued under the Inducement Plan during the nine months ended September 30, 2021
[3] On January 1, 2021, the number of authorized shares in the 2016 Plan increased by 391,000 shares pursuant to the evergreen provisions of the 2016 Plan.