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Nature of Business and Going Concern - Additional Information (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
3 Months Ended 9 Months Ended
Jun. 24, 2021
USD ($)
loan
May 05, 2020
USD ($)
$ / shares
shares
Feb. 01, 2019
USD ($)
$ / shares
shares
Sep. 30, 2021
USD ($)
subsidiary
$ / shares
Sep. 30, 2020
USD ($)
$ / shares
Sep. 30, 2021
USD ($)
subsidiary
$ / shares
Sep. 30, 2020
USD ($)
$ / shares
Jun. 30, 2021
$ / shares
Mar. 31, 2021
$ / shares
Dec. 31, 2020
USD ($)
$ / shares
Jun. 30, 2020
$ / shares
Jun. 26, 2020
USD ($)
Mar. 31, 2020
$ / shares
Dec. 31, 2019
$ / shares
Going Concern [Line Items]                            
Number of wholly owned subsidiaries | subsidiary       4   4                
Loss from operations       $ (4,173) $ (5,859) $ (13,016) $ (14,539)              
Accumulated deficit       (175,059)   (175,059)       $ (162,140)        
Cash flows from operating activities       $ (2,958) $ (5,446) $ (10,977) $ (12,311)              
Issuance of securities (in shares) | shares   4,800                        
Shares issued, exercise price | $ / shares   $ 6.25                        
Total gross proceeds from the offering   $ 31,967                        
Net proceeds from public offering   $ 34,100                        
Warrants exercise price | $ / shares       $ 6.80 $ 6.80 $ 6.80 $ 6.80 $ 6.80 $ 6.80 $ 6.80 $ 6.80   $ 6.80 $ 6.80
Bridge Bank Term Loan                            
Going Concern [Line Items]                            
Debt amount $ 20,000                          
Number of loans | loan 3                          
Bridge Bank Term Loan | Minimum                            
Going Concern [Line Items]                            
Interest only period 18 months                          
Bridge Bank Term Loan | Maximum                            
Going Concern [Line Items]                            
Interest only period 24 months                          
Term Loan A                            
Going Concern [Line Items]                            
Debt amount $ 5,000                          
Term Loan B                            
Going Concern [Line Items]                            
Debt amount 7,500                          
Term Loan C                            
Going Concern [Line Items]                            
Debt amount $ 7,500                          
Revenue achievement trailing period 6 months                          
Revenue threshold amount for loan to be funded $ 11,000                          
Overallotment Option                            
Going Concern [Line Items]                            
Issuance of securities (in shares) | shares   660                        
Bridge Bank | Loan And Security Agreement | Term Loan A                            
Going Concern [Line Items]                            
Line of credit facility, borrowing capacity     $ 12,500                 $ 18,000    
Warrants issued | shares     39                      
Warrants exercise price | $ / shares     $ 6.80                      
Warrants exercise term     10 years