Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Mar. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Common stock available for future issuance	7,543,558	6,471,940
Common Stock Options Outstanding
Class Of Stock [Line Items]
Common stock available for future issuance	3,688,965	3,136,076
Equity Incentive Plans
Class Of Stock [Line Items]
Common stock available for future issuance	3,166,412	2,907,742
ESPP
Class Of Stock [Line Items]
Common stock available for future issuance	665,059	405,000
Common Stock Warrant
Class Of Stock [Line Items]
Common stock available for future issuance	23,122	23,122