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Borrowings - Additional Information (Details)
 1 Months Ended 3 Months Ended
Apr. 09, 2020
USD ($)
Mar. 07, 2019
USD ($)
d
$ / shares
Jan. 31, 2021
USD ($)
shares
Mar. 31, 2021
USD ($)
Mar. 31, 2020
USD ($)
Dec. 31, 2020
USD ($)
Debt Instrument [Line Items]            
Loss on extinguishment of debt       $ 2,725,000 $ 0  
Net carrying amount of convertible debt and derivative liability       12,226,000   $ 16,516,000
Amortization of debt issuance costs and discount       256,000 278,000  
April 2020 Note Purchase Agreement            
Debt Instrument [Line Items]            
Date of issuance and sale of notes Apr. 09, 2020          
Face amount $ 10,000,000.0          
Proceeds from debt, net of issuance costs 9,500,000          
Payment of debt issuance costs $ 500,000          
Fair value of notes           7,400,000
Conversion of convertible note, amount     $ 6,000,000.0      
Conversion of convertible note exchanged for shares | shares     959,080      
Loss on extinguishment of debt     $ 2,700,000      
Net carrying amount of convertible debt and derivative liability     4,800,000      
Fair value of the consideration issued     $ 7,500,000      
Senior Convertible Note Purchase Agreement            
Debt Instrument [Line Items]            
Date of issuance and sale of notes   Mar. 07, 2019        
Face amount   $ 16,000,000.0        
Proceeds from debt, net of issuance costs   14,700,000        
Payment of debt issuance costs   $ 1,300,000        
Senior convertible notes       9,600,000    
Unamortized debt issuance cost       400,000    
Bifurcated embedded conversion option derivative liability       2,600,000    
Derivative, fair value       7,000,000.0    
Gain (loss) on fair value adjustment of derivative liability       42,000 700,000  
Amortization of debt issuance costs and discount       300,000 $ 300,000  
Fair value of convertible debt and derivative liability       $ 12,900,000   $ 12,900,000
Purchase price as percentage of principal amount   100.00%        
Interest rate   6.00%        
Payment terms       The March 2019 Notes bear interest at a rate of 6.0% per annum payable semiannually in arrears on March 15 and September 15 of each year, beginning September 15, 2019. The March 2019 Notes will mature on March 15, 2025, unless earlier converted, redeemed or repurchased.    
Notes maturity date   Mar. 15, 2025        
Notes maturity description       The March 2019 Notes will mature on March 15, 2025, unless earlier converted, redeemed or repurchased    
Conversion terms       holder of the March 2019 Notes may convert their March 2019 Notes at their option at any time prior to the close of business on the business day immediately preceding March 15, 2025 into shares of the Company’s common stock.    
Conversion rate, number of shares to be issued per $1000 of principal (in shares)   73.9096        
Principal amount of notes used as the denominator for conversion into notes   $ 1,000        
Initial conversion price of notes | $ / shares   $ 13.53        
Conversion rate, number of shares to be issued per $1000 of principal (in shares) after adjustment to certain events   81        
Principal amount of notes used as the denominator for conversion into notes after adjustment of certain events   $ 1,000        
Convertible notes, redemption start date   Mar. 15, 2022        
Convertible notes, threshold percentage of stock price trigger   130.00%        
Convertible notes, threshold trading days | d   20        
Convertible notes, threshold consecutive trading days | d   30        
Redemption price as percentage of the principal amount   100.00%        
Redemption price as percentage of the principal amount subject to certain exceptions   100.00%