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Net Loss Per Share - Schedule of Potentially Dilutive Securities Not Included in Diluted Per Share Calculations (Details) - shares
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive shares excluded from calculation of diluted net loss per share (in shares) 12,379,851 9,661,292
Options Issued and Outstanding    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive shares excluded from calculation of diluted net loss per share (in shares) 11,412,998 7,959,416
Restricted Shares Subject to Future Vesting    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive shares excluded from calculation of diluted net loss per share (in shares) 966,853 1,457,432
Warrants to Purchase Common Stock    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive shares excluded from calculation of diluted net loss per share (in shares)   244,444