Equity - Additional Information (Details) $ / shares in Units, $ in Millions	3 Months Ended
	Mar. 31, 2021 USD ($) offering $ / shares shares	Mar. 31, 2020 USD ($) $ / shares shares	Dec. 31, 2020 $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, shares authorized (in shares)	100,000,000		100,000,000
Common stock, par value (in dollars per share) | $ / shares	$ 0.000001		$ 0.000001
Common stock, shares issued (in shares)	42,326,033		42,196,296
Common stock, shares outstanding (in shares)	42,326,033		42,196,296
Warrants, notice period for nominal cash consideration	61 days
Percentage of outstanding stock per stockholder, maximum	9.99%
Unrecognized stock-based compensation cost | $	$ 23.8
Unrecognized stock-based compensation cost, weighted-average period recognized	3 years
Shares issued upon exercises of stock options (in shares)	91,737	376,311
Aggregate intrinsic value of options exercised | $	$ 1.0	$ 1.3
Weighted average grant date fair value for options granted in period (in dollars per share) | $ / shares	$ 9.43	$ 5.62
Prefunded Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding pre-funded warrants (in shares)	12,663,010
Exercise price of pre-funded warrants (in dollars per share) | $ / shares	$ 0.000001
2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock shares reserved for issuance under employee stock purchase plan (in shares)	759,936
Shares issuable under 2020 ESPP | 2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
ESPP max contribution rate	15.00%
ESPP, purchase price of common stock, percent of market price	85.00%
ESPP number of offerings per year | offering	2
ESPP offering period	6 months