Convertible Notes - Additional Information (Details) - USD ($)	1 Months Ended		12 Months Ended
	Nov. 30, 2019	Apr. 30, 2019	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Debt Instrument [Line Items]
Proceeds from issuance of convertible notes			$ 0	$ 19,451,000	$ 2,988,000
Interest expense			$ 209,000	7,387,000	718,000
Convertible Notes | Series C Convertible Preferred Stock
Debt Instrument [Line Items]
Conversion of convertible notes payable to preferred stock	6,893,036
Interest expense				6,900,000	200,000
2018 Notes
Debt Instrument [Line Items]
Face amount of loans					$ 3,000,000
Convertible promissory notes accrued interest rate					8.00%
Convertible promissory notes conversion percentage on per share price paid by investors					85.00%
Qualified financing of convertible promissory notes converted into preferred equity					$ 10,000,000
2019 Notes
Debt Instrument [Line Items]
Face amount of loans				$ 4,500,000
Convertible promissory notes accrued interest rate				10.00%
Convertible promissory notes conversion percentage on per share price paid by investors				80.00%
Qualified financing of convertible promissory notes converted into preferred equity				$ 10,000,000
Lilly Note
Debt Instrument [Line Items]
Convertible promissory notes accrued interest rate		8.00%
Proceeds from issuance of convertible notes		$ 15,000,000
Maturity date		2020-10
Lilly Note | Series C Convertible Preferred Stock
Debt Instrument [Line Items]
Conversion of convertible notes payable to preferred stock	4,576,342