Nature of Business and Basis of Presentation - Additional Information (Details) - USD ($)						1 Months Ended	3 Months Ended				6 Months Ended
	Apr. 06, 2021	Nov. 09, 2020	Mar. 12, 2020	Apr. 12, 2019	Apr. 02, 2018	Nov. 09, 2020	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2020	Mar. 31, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Conversion of convertible preferred stock into common stock upon initial public offering, Shares					24,168,656
Net proceed from issuance of common stock											$ 49,744,000
Net loss							$ 30,500,000	$ 1,073,000	$ 35,340,000	$ 35,331,000	31,573,000	$ 70,671,000
Accumulated deficit							$ 359,941,000				$ 359,941,000		$ 328,368,000
Maximum
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Proceeds through future financings			$ 148,400
Initial Public Offering
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares					10,350,000
Common stock at a public offering price					$ 16.00
Net proceeds from initial public offering after underwriting discounts and commissions and offering expenses					$ 150,800,000
Follow-on Offering [Member] | Common Stock
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares	6,596,306			5,555,556			6,596,306
Shares issued price per share	$ 7.58			$ 22.50
Net proceeds after deducting underwriting discounts and commissions and offering expenses	$ 49,700			$ 116,900,000
Underwriters Option | Common Stock
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares	989,445			833,333
Shares issued price per share	$ 7.58			$ 22.50
Net proceeds after deducting underwriting discounts and commissions and offering expenses				$ 17,600,000
Private Placement
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares		5,000,000				5,000,000
Shares issued price per share		$ 12.00				$ 12.00
Net proceed from issuance of common stock		$ 60,000,000.0				$ 60,000,000.0
ATM
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares											114,914
Shares issued price per share							$ 14.00				$ 14.00
Net proceed from issuance of common stock											$ 1,500,000
Proceeds through future financings											$ 148,400,000
Commission Fee											3.00%
Payments Of Stock Issuance Costs											$ 100,000
ATM | Maximum
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Proceeds through future financings			$ 150,000,000.0
ATM | Common Stock
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares								114,914