Stock-Based Compensation Expense - Summary of Stock Option Activity Under Plans (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2020	Dec. 31, 2019
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Shares, Outstanding December 31, 2019	792,439
Number of shares granted	763,505
Shares, Exercised	(2,814)
Shares, Cancelled	(124,244)
Shares, Outstanding December 31, 2020	1,428,886	792,439
Shares, Exercisable at December 31, 2020	626,578
Shares, Vested and expected to vest at December 31, 2020	1,428,886
Weighted Average Exercise Price, Outstanding December 31, 2019	$ 6.59
Weighted Average Exercise Price, Granted	14.16
Weighted Average Exercise Price, Exercised	2.92
Weighted Average Exercise Price, Cancelled	9.30
Weighted Average Exercise Price, Outstanding December 31, 2020	10.41	$ 6.59
Weighted Average Exercise Price, Exercisable at December 31, 2020	9.30
Weighted Average Exercise Price,Vested and expected to vest at December 31, 2020	$ 10.41
Outstanding, Weighted Average Remaining Contractual Life (in years)	7 years 8 months 12 days	7 years 3 months 18 days
Exercisable, Weighted Average Remaining Contractual Life (in years)	6 years
Vested and expected to vest, Weighted Average Remaining Contractual Life (in years)	7 years 8 months 12 days
Aggregate Intrinsic Value, Outstanding December 31, 2019	$ 3,363
Aggregate Intrinsic Value, Outstanding December 31, 2020	5,165	$ 3,363
Aggregate Intrinsic Value, Exercisable at December 31, 2020	3,099
Aggregate Intrinsic Value, Vested and expected to vest at December 31, 2020	$ 5,165

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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