Quarterly report pursuant to Section 13 or 15(d)

Capitalization and Equity Structure - Additional Information (Details)

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Capitalization and Equity Structure - Additional Information (Details) - USD ($)
1 Months Ended 2 Months Ended 3 Months Ended 9 Months Ended
Oct. 29, 2020
Jun. 30, 2020
Dec. 31, 2019
May 30, 2019
Feb. 28, 2021
Sep. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Jun. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
May 31, 2019
Class of Stock [Line Items]                          
Common stock, shares authorized (in shares)           141,429,000       141,429,000   141,429,000  
Preferred Stock, shares authorized (in shares)           10,000,000       10,000,000   10,000,000  
Common stock, shares issued (in shares)           12,664,000       12,664,000   8,349,000  
Common stock, shares outstanding (in shares)           12,664,000       12,664,000   8,349,000  
Preferred stock, shares issued (in shares)           0       0   0  
Preferred stock, shares outstanding (in shares)           0       0   0  
Proceeds from direct offering                   $ 37,295,000 $ 7,082,000    
Warrants issued (in shares)                   273,000      
Value of shares sold                   $ 1,417,000 3,334,000    
Exercise of warrants             $ 3,878,000 $ 5,875,000 $ 1,436,000 $ 1,417,000 $ 1,436,000    
Warrants exercised (in shares)                   (358,000)      
Number warrants called (in shares)           1,240,000       1,240,000   1,325,000  
February 2021 Offering                          
Class of Stock [Line Items]                          
Percentage of warrants issued to purchase shares of common stock         7.00%                
Exercise price (in dollars per share)         $ 12.81                
2021 Warrants                          
Class of Stock [Line Items]                          
Warrants issued (in shares)         273,000         273,000      
Exercise price (in dollars per share)         $ 12.81 $ 12.81       $ 12.81      
Warrants exercised (in shares)                   0      
Duration of put option         30 days                
Put option pay period         5 days                
Number warrants called (in shares)           273,000       273,000   0  
Class of warrant or right expiration period         5 years         5 years      
June 2020 Investor Warrants                          
Class of Stock [Line Items]                          
Warrants issued (in shares)                   0      
Exercise price (in dollars per share)   $ 5.18       $ 5.18     $ 5.18 $ 5.18      
Warrants exercised (in shares)                   (270,000) 0    
Duration of put option   30 days                      
Number warrants called (in shares)   874,000       127,000     874,000 127,000   397,000  
Class of warrant or right expiration period                   5 years 6 months      
June 2020 Placement Agent Warrants                          
Class of Stock [Line Items]                          
Warrants issued (in shares)   122,000               0      
Exercise price (in dollars per share)           $ 5.64       $ 5.64      
Warrants exercised (in shares)                   (83,000) 0    
Number warrants called (in shares)           39,000       39,000   122,000  
Class of warrant or right expiration period                   5 years      
December 2019 Warrants                          
Class of Stock [Line Items]                          
Warrants issued (in shares)                   0      
Exercise price (in dollars per share)     $ 8.10     $ 8.10       $ 8.10      
Warrants exercised (in shares)                   0      
Duration of put option     30 days                    
Put option pay period     5 days                    
Number warrants called (in shares)     556,000     556,000       556,000   556,000  
Class of warrant or right expiration period     5 years             5 years      
December 2019 Placement Agent Warrants                          
Class of Stock [Line Items]                          
Warrants issued (in shares)                   0      
Exercise price (in dollars per share)     $ 8.44     $ 8.44       $ 8.44      
Warrants exercised (in shares)                   0      
Number warrants called (in shares)     52,000     52,000       52,000   52,000  
Class of warrant or right expiration period                   5 years      
May 2019 Warrants                          
Class of Stock [Line Items]                          
Warrants issued (in shares)                   0      
Exercise price (in dollars per share)   $ 3.52       $ 3.52     $ 3.52 $ 3.52     $ 3.52
Warrants exercised (in shares)                   (5,000) 0    
Duration of put option       90 days                  
Number warrants called (in shares)           193,000       193,000   198,000 444,000
Class of warrant or right expiration period                   5 years      
June 2020 Warrants                          
Class of Stock [Line Items]                          
Exercise price (in dollars per share)   5.18             $ 5.18        
Class of warrant or right expiration period                   5 years 6 months      
Underwriting agreement | February 2021 Offering                          
Class of Stock [Line Items]                          
Number warrants called (in shares)         3,902,000                
Sale of shares (in dollars per share)         $ 10.25                
Value of shares sold         $ 40,000,000                
Proceeds from direct offering         $ 36,504,000                
Expected term         5 years                
At-The-Market Offering                          
Class of Stock [Line Items]                          
Number warrants called (in shares)           0       78,000      
Sale of shares (in dollars per share) $ 6.75         $ 10.72       $ 10.72      
Value of shares sold $ 7,500,000                        
Commission and issuance costs                   $ 791,000      
Common Stock                          
Class of Stock [Line Items]                          
Exercise of warrants             $ 1,000            
Exercise of warrants (in shares)               500,000 223,000 300,000 723,000    
Common Stock | At-The-Market Offering                          
Class of Stock [Line Items]                          
Available for future offerings                   $ 6,668,000      
Common Stock | Direct Offering | May 2019 Warrants                          
Class of Stock [Line Items]                          
Sale of shares (in dollars per share)   $ 4.51             $ 4.51