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Stock-Based Compensation Expense - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
Jan. 31, 2021
Apr. 30, 2020
Feb. 29, 2016
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares granted           602,600  
Shares of common stock reserved for future issuances       3,548,408   3,548,408  
Stock-based compensation       $ 733,000 $ 468,000 $ 1,988,000 $ 1,221,000
Weighted-average fair value of options granted to employees, directors and consultants       $ 5.66 $ 9.12 $ 6.84 $ 9.81
Aggregate intrinsic value of stock options exercised       $ 21,000 $ 3,000 $ 300,000 $ 3,000
Unrecognized stock-based compensation expense relating to unvested stock options       7,500,000   $ 7,500,000  
Unvested stock options expected to be recognized over a weighted-average period           2 years 10 months 24 days  
Milestone-based Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Stock-based compensation       0 $ 0 $ 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   $ 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       1,483,434   1,483,434  
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%