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Stockholders' Equity - Schedule of Estimate Fair Value of Stock Options Granted (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Equity Incentive Plans        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Expected term (in years) 6 years 29 days 6 years 8 months 19 days 5 years 11 months 26 days 6 years 1 month 9 days
Expected volatility 82.00% 82.00% 83.00% 76.00%
Risk-free interest 0.95% 0.44% 0.84% 1.10%
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) 6 months 6 months 6 months 6 months
Expected volatility 77.00% 96.00% 86.00% 76.00%
Risk-free interest 0.08% 0.13% 0.08% 0.75%
Dividend yield 0.00% 0.00% 0.00% 0.00%