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Debt - PPP Loan (Details) - USD ($)
3 Months Ended 6 Months Ended
Apr. 20, 2020
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Debt Instrument [Line Items]          
Grants recognized as a reduction to operating expenses   $ 1,640,000   $ 1,640,000  
Interest expense   $ 299,000 $ 348,000 $ 593,000 $ 638,000
PPP Loan          
Debt Instrument [Line Items]          
Face amount of loan $ 1,806,000        
Stated interest rate (as percentage) 1.00%        
Term of loan 2 years        
Grants recognized as a reduction to operating expenses $ 1,640,000        
Interest expense 0        
Accounts Payable and Accrued Liabilities | PPP Loan          
Debt Instrument [Line Items]          
Deferred credit $ 166,000