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Notes Payable - Additional Information (Details) - USD ($) |  |  |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | ---
May 07, 2020 | Feb. 18, 2018 | Feb. 17, 2018 | Aug. 31, 2020 | Feb. 29, 2020 | Aug. 31, 2019 | Feb. 28, 2019 | Oct. 31, 2018 | Mar. 31, 2016 | Dec. 31, 2020 | Dec. 31, 2019
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Interest expense |  |  |  |  |  |  |  |  |  | $ 243,000 | $ 220,000
Senior Secured Convertible Notes due August 15, 2018 |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stated interest rate |  |  |  |  |  |  |  | 8.00% | 10.00% |  |
Principal amount |  |  |  |  |  |  |  |  | $ 8,000,000 |  |
Redemption purchase price |  | 100.00% | 120.00% |  |  |  |  |  |  |  |
Minimum ownership percentage triggering event for redemption of notes |  |  |  |  |  |  |  |  | 40.00% |  |
Maximum amount of indebtedness subordinated by security interest and cash payment rights under debt instruments |  |  |  |  |  |  |  |  | $ 5,000,000 |  |
Payment on principle amount of note |  |  |  |  |  |  |  | $ 7,400,000 |  |  |
Senior Secured Convertible Notes due August 15, 2018 | Contractual obligations and other termination costs |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Debt issuance costs |  |  |  |  |  |  |  |  | $ 100,000 |  |
Senior Secured Convertible Notes due August 15, 2018 | Minimum |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Percentage of beneficial ownership if effective upon conversion date of debt instrument |  |  |  |  |  |  |  |  | 19.90% |  |
Senior Secured Convertible Notes due August 15, 2018 | Maximum |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Period for outstanding balance of accounts receivable has not recorded an allowance for doubtful accounts |  |  |  |  |  |  |  |  | 90 days |  |
Senior Secured Convertible Notes due August 15, 2023 |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Conversion price |  |  |  |  |  |  |  | $ 11.434 | $ 170.00 |  |
Interest Note |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Conversion price |  |  |  |  |  |  |  |  |  | $ 11.434 |
Number of shares issuable if notes converted to shares of common stock |  |  |  |  |  |  |  |  |  | 271,121 |
Semi-annual interest payments |  |  |  | $ 122,000 | $ 112,000 | $ 109,000 | $ 78,000 |  |  |  |
Promissory Note | PPP Note |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stated interest rate | 1.00% |  |  |  |  |  |  |  |  |  |
Principal amount | $ 579,330,000 |  |  |  |  |  |  |  |  |  |
Debt instrument term | 2 years |  |  |  |  |  |  |  |  |  |
Monthly payment beginning date | Oct. 31, 2021 |  |  |  |  |  |  |  |  |  |

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