Significant Accounting Policies - Schedule of Outstanding Potentially Dilutive Securities Excluded In Calculation Of Diluted Net Loss Per Share (Details) - shares	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020
Significant Accounting Policies [Line Items]
Outstanding potentially dilutive securities excluded in calculation of diluted net loss per share (in shares)	6,984,067	6,361,422
Common stock options
Significant Accounting Policies [Line Items]
Outstanding potentially dilutive securities excluded in calculation of diluted net loss per share (in shares)	4,359,395	3,740,815
Warrants to purchase common stock
Significant Accounting Policies [Line Items]
Outstanding potentially dilutive securities excluded in calculation of diluted net loss per share (in shares)	2,349,595	2,349,595
Employee stock purchase plan
Significant Accounting Policies [Line Items]
Outstanding potentially dilutive securities excluded in calculation of diluted net loss per share (in shares)	275,077	271,012