Equity - Additional Information (Details) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021 USD ($) $ / shares shares	Jun. 30, 2020 USD ($) shares	Jun. 30, 2021 USD ($) offering $ / shares shares	Jun. 30, 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		100,000,000
Common stock, par value (in dollars per share) | $ / shares	$ 0.000001		$ 0.000001		$ 0.000001
Common stock, shares issued (in shares)	42,419,129		42,419,129		42,196,296
Common stock, shares outstanding (in shares)	42,419,129		42,419,129		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 | $	$ 29,500		$ 29,500
Unrecognized stock-based compensation cost, weighted-average period recognized			2 years 10 months 28 days
Shares issued upon exercises of stock options (in shares)			116,861	475,193
Aggregate intrinsic value of options exercised | $			$ 1,200	$ 2,400
Weighted average grant date fair value for options granted in period (in dollars per share) | $ / shares			$ 8.99	$ 7.84
Number of common stock shares issued upon vesting of restricted stock unit (in shares)	1		1
Stock-based compensation expense | $	$ 2,918	$ 1,022	$ 5,338	$ 1,705
Performance-based RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units granted (in shares)			50,000
Performance-based RSUs | Share-based Payment Arrangement, Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units vested (in shares)			25,000
Stock-based compensation expense | $			$ 300
Performance-based RSUs | Share-based Payment Arrangement, Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units not expected to vest (in shares)	25,000		25,000
Unrecognized stock-based compensation, excluding options | $	$ 300		$ 300
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		759,936
Issuance of shares under Employee Stock Purchase Plan (in shares)			22,972
Sale of stock, price per share (in dollars per share) | $ / shares	$ 9.53		$ 9.53
Proceeds from ESPP | $			$ 200
2020 Employee Stock Purchase Plan | Shares issuable under 2020 ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
ESPP max contribution rate	15.00%		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
Prefunded Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding pre-funded warrants (in shares)	12,663,010	10,925,481	12,663,010	10,925,481
Warrants, notice period for nominal cash consideration			61 days	61 days
Exercise price of pre-funded warrants (in dollars per share) | $ / shares	$ 0.000001		$ 0.000001