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Stockholders' Equity - Schedule of Estimate Fair Value of Stock Options Granted (Details)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Equity Incentive Plans    
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]    
Expected term (in years) 6 years 3 days 6 years 7 days
Expected volatility 83.00% 74.00%
Risk-free interest 0.76% 1.45%
Dividend yield 0.00% 0.00%
2016 Employee Stock Purchase Plan    
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]    
Expected term (in years) 5 months 26 days 6 months
Expected volatility 97.00% 53.00%
Risk-free interest 0.08% 1.49%
Dividend yield 0.00% 0.00%