Convertible Preferred Stock and Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2020	Dec. 31, 2019
Class Of Stock [Line Items]
Common stock available for future issuance	6,471,940	19,009,189
Conversion of Preferred Stock
Class Of Stock [Line Items]
Common stock available for future issuance		16,685,014
Common Stock Warrant
Class Of Stock [Line Items]
Common stock available for future issuance	23,122
Equity Incentive Plans
Class Of Stock [Line Items]
Common stock available for future issuance	2,907,742	616,423
Preferred Stock Warrant
Class Of Stock [Line Items]
Common stock available for future issuance		23,122
Common Stock Options Outstanding
Class Of Stock [Line Items]
Common stock available for future issuance	3,136,076	1,684,630
ESPP
Class Of Stock [Line Items]
Common stock available for future issuance	405,000