Stock-based Compensation - Summary of Stock Options Outstanding and Exercisable (Details) - $ / shares	3 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	2,509,811	1,974,870
Shares Exercisable	669,216
Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	2,099,989
Shares Exercisable	489,525
Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	409,822
Shares Exercisable	179,691
Exercise Price $0.16
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 0.16
Exercise Price $0.16 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	75,660
Shares Exercisable	75,660
Exercise Price $0.16 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	12,610
Shares Exercisable	12,610
Exercise Price $0.48
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 0.48
Exercise Price $0.48 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	151,320
Shares Exercisable	151,320
Exercise Price $1.00
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.00
Exercise Price $1.00 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	37,830
Shares Exercisable	37,830
Exercise Price $1.04
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.04
Exercise Price $1.04 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	66,931
Shares Exercisable	66,931
Exercise Price $1.04 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	31,525
Shares Exercisable	31,525
Exercise Price $1.19
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.19
Exercise Price $1.19 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	26,825
Shares Exercisable	21,465
Exercise Price $1.19 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	34,677
Shares Exercisable	34,677
Exercise Price $1.31
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.31
Exercise Price $1.31 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	63,050
Shares Exercisable	63,050
Exercise Price $1.35
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.35
Exercise Price $1.35 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	290,974
Shares Exercisable	68,509
Exercise Price $1.35 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	97,727
Shares Exercisable	63,049
Exercise Price $1.49
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 1.49
Exercise Price $1.49 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	31,525
Shares Exercisable	21,016
Exercise Price $17.00
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 17.00
Exercise Price $17.00 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	737,052
Shares Exercisable	19,263
Exercise Price $17.00 | Non-employees
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	195,453
Exercise Price $19.29
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 19.29
Exercise Price $19.29 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	27,742
Exercise Price $21.5
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 21.15
Exercise Price $21.5 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	558,150
Exercise Price $21.40
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 21.40
Exercise Price $21.40 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	9,600
Exercise Price $21.62
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 21.62
Exercise Price $21.62 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	2,400
Exercise Price $22.22
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 22.22
Exercise Price $22.22 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	29,618
Exercise Price $23.79
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 23.79
Exercise Price $23.79 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	1,400
Exercise Price $29.41
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price ($)	$ 29.41
Exercise Price $29.41 | Employees and Directors
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Shares Outstanding	27,742
Shares Exercisable	2,311