Common Stock - Schedule of Number of Shares of Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2020	Dec. 31, 2019
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	5,672,757	14,834,849
Options Issued and Outstanding
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	3,706,945	1,860,646
Stock Options Available for Future Grant
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	1,739,621	653,136
Redeemable Convertible Preferred Stock
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance		12,048,671
Conversion of Additional Authorized and Unissued Redeemable Convertible Preferred Stock
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance		51,506
Redeemable Convertible Preferred Stock Warrant Liability
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance		220,890
Common Stock Warrants
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	226,191