Summary of Reserved Shares of Common Stock (Details) - shares	Dec. 31, 2020	Dec. 31, 2019
Class of Stock [Line Items]
Reserved shares of common stock	53,187,679	55,532,811
Stock Award Plans [Member]
Class of Stock [Line Items]
Reserved shares of common stock	2,054,941	3,216,028
Employee Stock Purchase Plan [Member]
Class of Stock [Line Items]
Reserved shares of common stock	229,136	261,603
Series A Convertible Preferred Stock [Member]
Class of Stock [Line Items]
Reserved shares of common stock	45,278,096	46,398,904
Series B Convertible Preferred Stock [Member]
Class of Stock [Line Items]
Reserved shares of common stock	5,610,121	5,610,121
Warrant [Member]
Class of Stock [Line Items]
Reserved shares of common stock	15,385	46,155