Shareholders' Equity - Stock Reserved for Future Issuance (Details)	Dec. 31, 2020 shares
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	14,961,265
Employee Stock Purchase Plan
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	128,436
Warrants to purchase common stock
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	8,229,632
Common stock options
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	4,429,489
Restricted stock units
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	465,260
Shares available for grant
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	1,708,448