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Convertible Preferred Stock and Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  | 1 Months Ended | 12 Months Ended |  |  |
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Nov. 01, 2018 | Oct. 23, 2017 | Jan. 31, 2019 | Dec. 31, 2018 | Nov. 30, 2018 | Dec. 31, 2019 | Dec. 31, 2018 | Oct. 15, 2019 | Apr. 24, 2019 | Nov. 02, 2018
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Authorized capital stock |  | 33,853,333 |  |  |  |  |  |  |  |
Common stock, shares authorized |  | 18,666,666 |  | 100,000,000 |  | 100,000,000 | 100,000,000 |  |  | 100,000,000
Capital stock par value |  | $ 0.001 |  |  |  |  |  |  |  | $ 0.001
Convertible preferred stock |  |  |  | 5,000,000 |  | 5,000,000 | 5,000,000 |  |  | 5,000,000
Dividends, value |  | $ 6,539 |  |  |  |  |  |  |  |
Dividends, fair value | $ 10,152 |  |  |  |  |  |  |  |  |
Preferred shares converted into common stock | 13,277,864 |  |  |  |  |  |  |  |  |
Preferred stock, shares issued |  |  |  |  |  | 0 |  |  |  |
Proceeds from issuance of common stock, net of costs |  |  |  |  |  | $ 1,604 | $ 8,295 |  |  |
Common stock, shares issued to former employee in exchange for release of claims and other agreements |  |  |  |  |  |  |  |  | 10,000 |
Common stock, shares issued to former employee in exchange for timely completion of services |  |  |  |  |  |  |  | 666 |  |
Cumulative dividends paid |  |  |  |  | $ 32,499 |  | $ 10,152 |  |  |
Number of warrants issued |  |  |  | 156,294 |  | 956 | 156,294 |  |  |
Preferred stock, conversion description |  |  |  |  |  | The conversion rate was one share of common stock for each share of convertible preferred stock and was subject to adjustment for such events such as stock splits and combinations. |  |  |  |
Securities Purchase Agreement |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Common stock, number of shares available for sale |  |  |  |  |  |  |  |  |  | 2,089,136
Proceeds from issuance of common stock, net of costs |  |  | $ 1,604 | $ 8,295 |  |  |  |  |  |
Issuance costs |  |  | $ 30 |  |  |  | $ 831 |  |  |
Common Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Shares issued and sold |  |  |  |  |  | 228,294 | 1,270,905 |  |  |
Common Stock | Securities Purchase Agreement |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Shares issued and sold |  |  | 227,628 |  |  |  | 1,270,905 |  |  |
Shares issued price per share |  |  |  | $ 7.18 |  |  | $ 7.18 |  |  |
Series A-3 Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Shares issued price per share |  |  |  |  |  | $ 8.87 |  |  |  |
Percentage of cumulative dividends |  |  |  |  |  | 5.00% |  |  |  |
Series A-2 Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Preferred stock, shares issued |  |  |  |  | 105,822 |  |  |  |  |
Shares issued price per share |  |  |  |  |  | $ 8.87 |  |  |  |
Percentage of cumulative dividends |  |  |  |  |  | 5.00% |  |  |  |
Series A-1 Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Preferred stock, shares issued |  |  |  |  | 164,604 |  |  |  |  |
Shares issued price per share |  |  |  |  |  | $ 6.03 |  |  |  |
Percentage of cumulative dividends |  |  |  |  |  | 5.00% |  |  |  |
Series A Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Preferred stock, shares issued |  |  |  |  | 4,467,139 |  |  |  |  |
Shares issued price per share |  |  |  |  |  | $ 6.03 |  |  |  |
Percentage of cumulative dividends |  |  |  |  |  | 15.00% |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Convertible preferred stock |  | 15,186,664 |  |  |  |  |  |  |  |
Series A-3 Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Convertible preferred stock |  | 1,266,666 |  |  |  |  |  |  |  |
Series A-2 Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Convertible preferred stock |  | 1,186,666 |  |  |  |  |  |  |  |
Number of shares issued as dividends | 49,456 |  |  |  |  |  |  |  |  |
Series A-1 Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Convertible preferred stock |  | 1,733,333 |  |  |  |  |  |  |  |
Number of shares issued as dividends | 66,255 |  |  |  |  |  |  |  |  |
Series A Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Convertible preferred stock |  | 9,333,333 |  |  |  |  |  |  |  |
Number of shares issued as dividends | 944,694 |  |  |  |  |  |  |  |  |
Series B Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Convertible preferred stock |  | 1,666,666 |  |  |  |  |  |  |  |
August 2016 Preferred Stock Agreement |  |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Preferred stock, shares issued |  |  |  |  |  | 466,014 |  |  |  |
Preferred stock, liquidation preference obligation to pay investor |  |  |  |  |  | $ 5.22 |  |  |  |
Number of warrants issued |  |  |  |  |  | 466,014 |  |  |  |

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