Debt - Additional Information (Details) - USD ($)	1 Months Ended			12 Months Ended
	Mar. 31, 2019	Nov. 30, 2017	Oct. 31, 2017	Dec. 31, 2020	Dec. 31, 2019
Silicon Valley Bank
Debt Instrument [Line Items]
Percentage of final payment on principal amount of refinanced advances	6.00%
Final payment liability				$ 600,000
Silicon Valley Bank | Tranche 1, 2, and 3
Debt Instrument [Line Items]
Amortization period of payments of principal plus interest amounts	33 months
Interest rate	6.50%
SVB and WestRiver
Debt Instrument [Line Items]
Expiration term	10 years
SVB and WestRiver | Tranche 1
Debt Instrument [Line Items]
Proceeds from lines of credit	$ 7,500,000
Number of warrants issued (in shares)	37,606
Exercise price of warrant (in usd per share)	$ 4.73
SVB and WestRiver | Tranche 2
Debt Instrument [Line Items]
Number of warrants issued (in shares)	12,130
Exercise price of warrant (in usd per share)	$ 10.86
SVB and WestRiver | Tranche 3
Debt Instrument [Line Items]
Number of warrants issued (in shares)	24,262
Exercise price of warrant (in usd per share)	$ 3.88
Term Loan | Silicon Valley Bank
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity			$ 7,500,000
Interest only period extended			Dec. 31, 2018
Amortization period of payments of principal plus interest amounts			24 months
Number of warrants issued (in shares)			49,713
Exercise price of warrant (in usd per share)			$ 9.659
Warrants exercisable date			Oct. 18, 2027
Percentage of aggregate principal amount			7.00%
Interest expense				1,400,000	$ 1,100,000
Term Loan | Silicon Valley Bank | Tranche A
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity			$ 3,500,000
Proceeds from lines of credit		$ 3,500,000
Term Loan | Silicon Valley Bank | Tranche B
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity			2,000,000.0
Term Loan | Silicon Valley Bank | Tranche C
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity			$ 2,000,000.0
Term Loan | Silicon Valley Bank | Tranche 2
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity	$ 2,500,000
Term Loan | Silicon Valley Bank | Tranche 3
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity	5,000,000.0
Term Loan | Silicon Valley Bank | Tranche 1, 2, and 3
Debt Instrument [Line Items]
Debt discount				$ 400,000
Term Loan | SVB and WestRiver
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity	15,000,000.0
Term Loan | SVB and WestRiver | Tranche 1
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity	$ 7,500,000
Prime Rate | Silicon Valley Bank | Tranche 1, 2, and 3
Debt Instrument [Line Items]
Interest rate, percentage point added to reference rate	1.00%