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Stock-Based Compensation - Summary of Stock Options (Details) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Number Outstanding, Outstanding, Ending balance 4,624,725  
Number Outstanding, Exercisable, Ending balance 3,351,086  
Stock Options [Member]    
Number Outstanding, Outstanding, Beginning balance 4,332,142 3,148,743
Number Outstanding, Options granted 670,250 1,250,754
Number Outstanding, Options exercised (140,864)  
Number Outstanding, Options canceled or expired (236,803) (67,355)
Number Outstanding, Outstanding, Ending balance 4,624,725 4,332,142
Number Outstanding, Exercisable, Ending balance 3,351,086  
Weighted Average Exercise Price, Outstanding, Beginning balance $ 2.63 $ 2.67
Weighted Average Exercise Price, Options granted 3.41 2.00
Weighted Average Exercise Price, Options exercised 2.12  
Weighted Average Exercise Price, Options canceled or expired 2.14 2.50
Weighted Average Exercise Price, Outstanding, Ending balance 2.77 $ 2.63
Weighted Average Exercise Price, Exercisable, Ending balance $ 2.80  
Weighted Average Remaining Contractual Term (years), Outstanding, Ending balance 7 years 9 months 18 days  
Weighted Average Remaining Contractual Term (years), Exercisable, Ending balance 7 years 4 months 24 days  
Aggregate Intrinsic Value, Outstanding, Ending balance $ 5,882  
Aggregate Intrinsic Value, Exercisable, Ending balance $ 750