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Net Loss per Share - Antidilutive Securities (Details) - shares
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Potentially dilutive securities have been excluded from diluted net loss per share calculations    
Anti-dilutive securities (in shares) 9,376,775 7,638,045
Options to purchase common stock    
Potentially dilutive securities have been excluded from diluted net loss per share calculations    
Anti-dilutive securities (in shares) 6,083,955 4,596,819
Common stock warrants    
Potentially dilutive securities have been excluded from diluted net loss per share calculations    
Anti-dilutive securities (in shares) 2,750,000 2,750,000
Restricted stock units    
Potentially dilutive securities have been excluded from diluted net loss per share calculations    
Anti-dilutive securities (in shares) 418,660 262,608
Performance Stock Units    
Potentially dilutive securities have been excluded from diluted net loss per share calculations    
Anti-dilutive securities (in shares) 105,500  
ESPP rights    
Potentially dilutive securities have been excluded from diluted net loss per share calculations    
Anti-dilutive securities (in shares) 18,660 28,618