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Stockholders' Equity - Additional Information (Details) - USD ($) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 12 Months Ended
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Dec. 24, 2020 | May 20, 2020 | Apr. 01, 2020 | Mar. 30, 2020 | Oct. 31, 2019 | Oct. 01, 2019 | Sep. 01, 2019 | Jul. 18, 2019 | May 01, 2019 | Apr. 15, 2019 | Apr. 01, 2019 | Mar. 15, 2019 | Mar. 13, 2019 | Feb. 27, 2019 | Dec. 31, 2020 | Dec. 31, 2019
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Authorized number of shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 51,000,000 |
Number of common stock shares authorized |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 50,000,000 | 50,000,000
Authorized number of shares of preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,000,000 | 1,000,000
Granted (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 531,250 |
Exercise price of options (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1.40 |
Compensation expense related to stock options |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 200,000 | $ 500,000
Unrecognized compensation expense |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 200,000 |
Weighted average period of recognition |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1 year 22 days |
Shares of common stock reserved for issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 9,308,788 |
Five year expiration |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expiration period |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 5 years |
Seven year expiration |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expiration period |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 7 years |
Ten year expiration |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expiration period |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 10 years |
Chief Executive Officer |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Granted (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 2,578,947 |  |
Exercise price of options (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1.70 |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 |
Number of trading days |  |  |  |  |  |  |  |  |  |  |  |  |  | 10 days |  |
Chief Executive Officer | $3.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 736,842 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 3.00 |  |
Chief Executive Officer | $5.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 626,316 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 5.00 |  |
Chief Executive Officer | $7.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 515,789 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 7.00 |  |
Chief Executive Officer | $9.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 405,263 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 9.00 |  |
Chief Executive Officer | $11.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 294,737 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 11.00 |  |
Chief Financial Officer |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Granted (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 552,632 |  |
Exercise price of options (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1.70 |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 |  |
Number of trading days |  |  |  |  |  |  |  |  |  |  |  |  |  | 10 days |  |
Chief Financial Officer | $3.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 157,895 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 3.00 |  |
Chief Financial Officer | $5.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 134,211 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 5.00 |  |
Chief Financial Officer | $7.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 110,526 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 7.00 |  |
Chief Financial Officer | $9.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 86,842 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 9.00 |  |
Chief Financial Officer | $11.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 63,158 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 11.00 |  |
Officer |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Granted (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 368,421 |  |
Exercise price of options (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1.70 |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 |  |
Number of trading days |  |  |  |  |  |  |  |  |  |  |  |  |  | 10 days |  |
Officer | $3.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 105,263 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 3.00 |  |
Officer | $5.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 89,474 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 5.00 |  |
Officer | $7.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 73,684 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 7.00 |  |
Officer | $9.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 57,895 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 9.00 |  |
Officer | $11.00 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 42,105 |  |
Lower range target price limit (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 11.00 |  |
Employees |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Granted (in shares) |  |  |  |  |  |  |  |  |  |  |  | 50,000 | 154,000 |  |  |
Exercise price of options (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  | $ 5.50 | $ 1.73 |  |  |
Non Management Directors |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Granted (in shares) |  |  | 200,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price of options (in dollars per share) |  |  | $ 0.50 |  |  |  |  |  |  |  | $ 1.70 |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  |  |  |  |  |  |  | 150,000 |  |  |  |  |
Percentage of options vested per tranche |  |  | 50.00% |  |  |  |  |  |  |  | 50.00% |  |  |  |  |
Key Employees |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price of options (in dollars per share) |  |  |  |  | $ 1.72 | $ 1.77 | $ 1.59 |  |  | $ 1.40 | $ 1.38 |  |  |  |  |
Number of exercisable options (in shares) |  |  |  |  | 10,000 | 100,000 | 15,000 |  |  | 24,000 | 10,000 |  |  |  |  |
Percentage of options vested per tranche |  |  |  |  | 33.33% | 33.33% | 33.33% |  | 50.00% | 50.00% |  |  |  |  |  |
Restricted Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Compensation expense related to stock options |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 600,000 | 500,000
Unrecognized compensation expense |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 10,000 |
Weighted average period of recognition |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 3 months |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 639,728 |
Restricted Stock | Employees |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Compensation expense related to stock options | $ 40,000 | $ 300,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period | 32,300 | 270,728 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Restricted Stock | Non Management Directors |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of options vested per tranche |  |  |  |  |  |  |  |  |  |  | 50.00% |  |  |  |  |
Award vesting period (in years) |  |  |  |  |  |  |  |  |  |  | 2 years |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period |  |  |  |  |  |  |  |  |  |  | 60,000 |  |  |  |  |
Restricted Stock | Senior Management |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Compensation expense related to stock options |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 300,000 | 200,000
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period |  |  |  | 336,700 |  |  |  |  |  |  |  |  |  |  |  |
Performance Shares | Key Employees |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Performance stock bonus |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 90,000 | 90,000
Term of employment |  |  |  |  |  |  |  |  |  |  |  |  |  | 2 years |  |
Warrant |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of options vested per tranche |  |  |  |  |  |  |  | 33.33% |  |  |  |  |  |  |  |
Compensation expense related to stock options |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 14,000
Shares issuable under warrants (in shares) |  |  |  |  |  |  |  | 115,000 |  |  |  |  |  |  |  |
Warrants outstanding, exercise price (in dollars per share) |  |  |  |  |  |  |  | $ 3.17 |  |  |  |  |  |  |  |
Warrant | Five year expiration |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expiration period |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 5 years |
2011 Equity Incentive Plan | Stock Compensation Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares of common stock available for issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,549,598 |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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