Significant Accounting Policies - Schedule of Outstanding Potentially Dilutive Securities Excluded In Calculation Of Diluted Net Loss Per Share (Details) - shares	9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020
Significant Accounting Policies [Line Items]
Outstanding potentially dilutive securities excluded in calculation of diluted net loss per share (in shares)	7,027,661	6,408,931
Common stock options
Significant Accounting Policies [Line Items]
Outstanding potentially dilutive securities excluded in calculation of diluted net loss per share (in shares)	4,367,123	3,717,406
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)	310,943	341,930