Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Sep. 30, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Common stock available for future issuance	7,210,917	6,471,940
Common Stock Options Outstanding
Class Of Stock [Line Items]
Common stock available for future issuance	3,418,224	3,136,076
Restricted Stock Units Outstanding
Class Of Stock [Line Items]
Common stock available for future issuance	552,650
Equity Incentive Plans
Class Of Stock [Line Items]
Common stock available for future issuance	2,600,197	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