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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Sep. 30, 2021
Dec. 31, 2020
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1] 2,767,000 2,424,000
Warrants Issued and Outstanding    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1] 0 51,000
Stock Option Awards Issued and Outstanding    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1] 1,953,000 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] 372,000 357,000
Authorized for grants under the 2016 Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1],[3] 326,000 256,000
Authorized for Grants under the Inducement Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1],[4] 116,000 0
[1] The table above excludes 541,000 and 534,000 treasury shares as of September 30, 2021 and December 31, 2020, respectively.
[2] 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.
[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 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