Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Schedule of Employee Stock Options Valuation (Details) |
9 Months Ended | |
|---|---|---|
Sep. 30, 2021 |
Sep. 30, 2020 |
|
| Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Line Items] | ||
| Expected volatility, Minimum | 81.60% | 73.20% |
| Expected volatility, Maximum | 84.90% | 84.20% |
| Risk-free interest rate, Minimum | 0.60% | 0.20% |
| Risk-free interest rate, Maximum | 1.10% | 1.60% |
| Minimum | ||
| Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Line Items] | ||
| Expected term (in years) | 5 years 3 months 18 days | 5 years 1 month 6 days |
| Maximum | ||
| Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Line Items] | ||
| Expected term (in years) | 6 years 1 month 6 days | 7 years |