Stock-Based Compensation - Summary of Employee and Non-Employee Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Shares Issuable Under Options, Outstanding	3,889,188
Shares Issuable Under Options, Granted	1,963,100
Shares Issuable Under Options, Exercised	(127,376)
Shares Issuable Under Options, Forfeited	(367,068)
Shares Issuable Under Options, Outstanding	5,357,844	3,889,188
Shares Issuable Under Options, Options vested and expected to vest	5,003,406
Shares Issuable Under Options, Options exercisable	2,654,899
Weighted Average Exercise Price, Outstanding	$ 7.37
Weighted Average Exercise Price, Granted	7.97
Weighted Average Exercise Price, Exercised	3.85
Weighted Average Exercise Price, Forfeited	7.84
Weighted Average Exercise Price, Outstanding	7.64	$ 7.37
Weighted Average Exercise Price, Options vested and expected to vest	7.58
Weighted Average Exercise Price, Options exercisable	$ 7.24
Weighted Average Remaining Contractual Term, Outstanding	7 years 11 months 1 day	8 years 1 month 6 days
Weighted Average Remaining Contractual Term, Options vested and expected to vest	7 years 10 months 9 days
Weighted Average Remaining Contractual Term, Options exercisable	7 years 1 month 9 days
Aggregate Intrinsic Value, Outstanding	$ 3,788	$ 3,642
Aggregate Intrinsic Value, Options vested and expected to vest	3,783
Aggregate Intrinsic Value, Options exercisable	$ 3,041