Stock-Based Compensation (Tables)

12 Months Ended

Dec. 31, 2020

Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]

Summary of Employee and Non-Employee Stock Option Activity

The following table summarizes employee and non-employee stock option activity for the year ended December 31, 2020:

	Shares Issuable Under Options			Weighted Average Exercise Price		Weighted Average Remaining Contractual Term		Aggregate Intrinsic Value
						(in years)		(in thousands)
Outstanding as of December 31, 2019		3,889,188		$	7.37		8.10	$	3,642
Granted		1,963,100			7.97
Exercised		(127,376	)		3.85
Forfeited		(367,068	)		7.84
Outstanding as of December 31, 2020		5,357,844		$	7.64		7.92	$	3,788
Options vested and expected to vest as of    December 31, 2020		5,003,406		$	7.58		7.86	$	3,783
Options exercisable as of December 31, 2020		2,654,899		$	7.24		7.11	$	3,041

Summary of Employee Restricted Stock Activity

The following table summarizes employee restricted stock activity for the year ended December 31, 2020:

	Shares		Weighted Average Grant Date Fair Value
Unvested restricted stock units as of December 31, 2019		—	$	—
Granted		228,200		8.13
Vested		—		—
Forfeited		—		—
Unvested restricted stock units as of December 31, 2020		228,200	$	8.13

Summary of Stock-Based Compensation Expense

Total stock-based compensation expense recognized from the Company’s equity incentive plans, 2018 Plan, and the 2016 ESPP for the years ended December 31, 2020, 2019, and 2018 was as follows (in thousands):

	Year Ended December 31,
	2020				2019				2018
	Employees		Non- Employees		Employees		Non- Employees		Employees		Non- Employees
Research and development	$	2,168	$	36	$	1,828	$	—	$	1,440	$	234
General and administrative		4,052		—		3,048		—		2,606		—
Total stock-based    compensation expense	$	6,220	$	36	$	4,876	$	—	$	4,046	$	234

Summary of Weighted-Average Assumptions Used in Calculating Fair Value of Awards

The following table summarizes the weighted-average assumptions used in calculating the fair value of the awards:

	Year Ended December 31,
	2020			2019			2018
2018 Plan, 2016 Plan, and 2015 Plan
Expected term (in years)		6.10			6.01			5.20
Expected volatility		76	%		80	%		74	%
Risk-free interest		1.06	%		2.32	%		2.42	%
Dividend yield		0	%		0	%		0	%
2016 ESPP
Expected term (in years)		0.50			0.50			0.50
Expected volatility		76	%		70	%		66	%
Risk-free interest		0.75	%		2.11	%		2.20	%
Dividend yield		0	%		0	%		0	%