Common Stock - Schedule of Number of Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2020	Dec. 31, 2019
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	3,924,191	3,194,078
Exercise of Outstanding Options | 2015 and 2019 Plans
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	2,591,456	1,962,332
Issuance of Common Stock Options | 2019 Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	975,135	1,036,746
Issuance of Common Stock Options | Employee Stock Purchase Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	357,600	195,000