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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Parenthetical) (Details) - shares		9 Months Ended
	Jan. 01, 2021	Sep. 30, 2021	Feb. 05, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Treasury stock, shares at cost		541,000		534,000
2016 Equity Incentive Plan
Class Of Stock [Line Items]
Number of authorized shares increased	391,000
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		187,700

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

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