Net Loss Per Common Share - Schedule of Potentially Dilutive Securities Excluded from Diluted Net Loss Per Common Share (Details) - shares	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Antidilutive Securities
Potentially dilutive securities excluded from diluted net loss per common share	2,656,244	2,791,863
Options to purchase common stock
Antidilutive Securities
Potentially dilutive securities excluded from diluted net loss per common share	2,121,896	2,437,124
Restricted stock units
Antidilutive Securities
Potentially dilutive securities excluded from diluted net loss per common share	485,012	326,903
Common stock warrants | Common stock subject to repurchase
Antidilutive Securities
Potentially dilutive securities excluded from diluted net loss per common share	49,336	27,836