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Stockholders' Equity - Schedule of Estimate Fair Value of Stock Options Granted (Details)
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Equity Incentive Plans        
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]        
Expected term (in years) 5 years 9 months 29 days 5 years 6 months 5 years 11 months 19 days 5 years 11 months 8 days
Expected volatility 83.00% 77.00% 83.00% 75.00%
Risk-free interest 1.03% 0.46% 0.82% 1.29%
Dividend yield 0.00% 0.00% 0.00% 0.00%
2016 Employee Stock Purchase Plan        
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]        
Expected term (in years)     5 months 26 days 6 months
Expected volatility     97.00% 53.00%
Risk-free interest     0.08% 1.49%
Dividend yield     0.00% 0.00%