| Stockholders' Equity (Tables)
 | 9 Months Ended | 
| Sep. 30, 2021 | 
|---|
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  | 
| Schedule of Summarizes Stock Option Activities | The following table summarizes stock option activities for the nine months ended September 30, 2021:  
|  |  |  |  |  |  |  |  |  
|   |      |  |      |  |  |      | Weighted Average |  
|  |  |  |  |  |  |  | Remaining |  
|  |  |  |  | Weighted Average |  | Contractual Life (in |  
|  |  | Stock Options |  | Exercise Price |  | years) |  
| Outstanding at December 31, 2020 |   |  1,141,675 |  | $ |  5.73 |   |  6.31 |  
| Outstanding at September 30, 2021 |   |  1,141,675 |  |   |  5.73 |   |  5.56 |  
| Options vested and exercisable at September 30, 2021 |   |  713,547 |  | $ |  5.73 |   |  5.56 |  | 
| Schedule of Stock-Based Compensation Expense | The following table summarizes stock-based compensation expense for the three and nine months ended September 30, 2021 and 2020 (in thousands):  
|  |  |  |  |  |  |  |  |  |  |  |  |  |  |  
|  |  | For the three months ended September 30,  |  | For the nine months ended September 30,  |  |  
|   |      | 2021 |      | 2020 |      | 2021 |      | 2020 |      |  
| General and administrative |  | $ |  229 |  | $ |  348 |  | $ |  793 |  | $ |  1,213 |  |  
| Research and development |  |   |  655 |  |   |  258 |  |   |  1,634 |  |   |  1,155 |  |  
| Total stock-based compensation expense |  | $ |  884 |  | $ |  606 |  | $ |  2,427 |  | $ |  2,368 |  |  | 
| Summary of Warrant Activities | A summary of warrant activities for the nine months ended September 30, 2021, is presented below:  
|  |  |  |  |  |  |  |  |  
|   |      |  |      |  |  |      | Weighted Average |  
|  |  |  |  |  |  |  | Remaining |  
|  |  |  |  | Weighted Average |  | Contractual Life (in |  
|  |  | Warrants |  | Exercise Price |  | years) |  
| Outstanding as of December 31, 2020 |   |  5,402,670 |  | $ |  8.21 |   |  1.39 |  
| Expired |   |  (666,366) |  |   |  8.50 |   |  — |  
| Cashless exercised |   |  (138) |  |   |  — |   |  — |  
| Outstanding as of September 30, 2021 |   |  4,736,166 |  | $ |  8.16 |   |  0.73 |  | 
| Restricted Stock Awards [Member] |  | 
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  | 
| Schedules of Restricted Stock and Restricted Stock Unit Activity | The following table summarizes restricted stock award activities for the nine months ended September 30, 2021:  
|  |  |  |  |  |  |  
|   |      |  |      | Weighted Average |  
|  |  |  |  | Grant Date Fair |  
|  |  | Number of Shares |  | Value |  
| Nonvested at December 31, 2020 |   |  302,114 |  | $ |  4.93 |  
| Granted |   |  68,870 |  |   |  3.63 |  
| Vested |  |  (90,001) |  |  |  6.69 |  
| Nonvested at September 30, 2021 |   |  280,983 |  | $ |  4.05 |  | 
| Restricted Stock Units [Member] |  | 
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  | 
| Schedules of Restricted Stock and Restricted Stock Unit Activity | Certain employees and consultants have been awarded restricted stock units with time-based vesting. The following table summarizes restricted stock units’ activities for the nine months ended September 30, 2021:  
|  |  |  |  |  |  |  
|   |      |  |      | Weighted Average |  
|  |  |  |  | Grant Date Fair |  
|  |  | Number of Units |  | Value |  
| Nonvested at December 31, 2020 |   |  1,468,559 |  | $ |  3.87 |  
| Granted |   |  1,100,000 |  |   |  3.45 |  
| Forfeited |  |  (298,687) |  |  |  3.64 |  
| Vested |   |  (298,690) |  |   |  4.29 |  
| Nonvested at September 30, 2021 |   |  1,971,182 |  | $ |  3.60 |  |