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Stock-based Compensation - Additional Information (Details) - USD ($)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected dividend yield 0.00%    
Fair value of options vested $ 133,000 $ 86,000  
Aggregate intrinsic value of options exercised 1,100,000 0.1  
Unrecognized compensation cost $ 12,400,000    
Remaining weighted-average period expected to recognize unrecognized compensation cost 1 year 9 months 29 days    
Restricted Stock Award (RSA)      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Vesting period 3 years    
Employees and Directors      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Weighted-average grant-date fair value of options granted $ 9,300,000 32,000  
Fair value of options vested 113,000 58,000  
Advisors      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Weighted-average grant-date fair value of options granted 0 17,000  
Fair value of options vested $ 20,000 $ 28,000  
Non-employees | Restricted Stock Award (RSA)      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of shares subject to repurchase upon discontinued service 4,204   4,204