Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Common stock available for future issuance	7,247,985	6,471,940
Common Stock Options Outstanding
Class Of Stock [Line Items]
Common stock available for future issuance	3,447,174	3,136,076
Equity Incentive Plans
Class Of Stock [Line Items]
Common stock available for future issuance	2,593,615	2,907,742
ESPP
Class Of Stock [Line Items]
Common stock available for future issuance	616,724	405,000
Common Stock Warrant
Class Of Stock [Line Items]
Common stock available for future issuance	23,122	23,122
Restricted Stock Units
Class Of Stock [Line Items]
Common stock available for future issuance	567,350