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Stock-Based Compensation Expense - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended
Apr. 30, 2020
Jan. 31, 2020
Feb. 29, 2016
Mar. 31, 2021
Mar. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares granted       365,700  
Shares of common stock reserved for future issuances       3,590,218  
Stock-based compensation       $ 599,000 $ 134,000
Weighted-average fair value of options granted to employees, directors and consultants       $ 7.65 $ 5.84
Aggregate intrinsic value of stock options exercised       $ 200,000 $ 0
Unrecognized stock-based compensation expense relating to unvested stock options       $ 8,400,000  
Unvested stock options expected to be recognized over a weighted-average period       3 years 2 months 12 days  
Milestone-based Awards          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock-based compensation       $ 0 $ 0
Revenue-based Milestone          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unrecognized stock-based compensation expense relating to unvested stock options       $ 36,000  
Minimum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Vesting period       4 years  
Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock option expiration period       10 years  
2005 and 2016 Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares granted     0    
2020 Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares of common stock reserved for future issuances 2,100,000        
Maximum number of common shares issued 8,800,000        
Percentage of common shares increase automatically in each year 4.00%        
Number of shares available for future grant       1,612,952  
Increase in Shares available for grant   517,295      
2020 ESPP          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares of common stock reserved for future issuances 150,000        
Maximum number of common shares issued 987,500        
Annual increase in number of shares available for issuance as percentage of outstanding shares common stock on final day of immediately preceding fiscal year 0.50%        
Purchase price of shares as percentage lower of fair market value of common stock 85.00%