Equity Financing - Additional Information (Details) - USD ($)		1 Months Ended		3 Months Ended		12 Months Ended
	Jul. 31, 2020	Jul. 31, 2020	Jun. 30, 2019	Mar. 31, 2021	Mar. 31, 2020	Dec. 31, 2020
Subsidiary Sale Of Stock [Line Items]
Equity financing, authorized amount			$ 250,000,000.0
Proceeds from sale of common stock				$ 8,892,000	$ 8,763,000
At The Market Equity Offering Program | Cowen | June 2019 Sales Agreement
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock (in shares)						5,002,257
Proceeds from sale of common stock						$ 37,300,000
Payments for other offering expenses						$ 1,300,000
At The Market Equity Offering Program | Cowen | June 2019 Sales Agreement | Maximum
Subsidiary Sale Of Stock [Line Items]
Equity financing, authorized amount			$ 75,000,000.0
Percentage of gross sales proceeds of common stock payable as compensation			3.00%
At The Market Equity Offering Program | Cowen | July 2020 Sales Agreement
Subsidiary Sale Of Stock [Line Items]
Proceeds from sale of common stock				8,900,000
Payments for other offering expenses				$ 300,000
At The Market Equity Offering Program | Cowen | July 2020 Sales Agreement | Maximum
Subsidiary Sale Of Stock [Line Items]
Equity financing, authorized amount	$ 50,000,000.0
Percentage of gross sales proceeds of common stock payable as compensation	3.00%
At The Market Equity Offering Program | Common Stock
Subsidiary Sale Of Stock [Line Items]
Equity financing, authorized amount		$ 50,000,000.0	$ 75,000,000.0
Issuance of common stock (in shares)				1,220,629	1,513,840
Additional At-the-Market Equity Offering Program | Cowen | July 2020 Sales Agreement
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock (in shares)				33,561
Initial At-the-Market Equity Offering Program | Cowen | July 2020 Sales Agreement
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock (in shares)				1,187,068