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Net Loss Per Share - Summary of Shares Excluded from Calculation of Diluted Net Loss per Share Applicable to Common Stockholders (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 4,386,985 3,843,867
Options to Purchase Shares of Stock    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive shares excluded from calculation of diluted net loss per share 3,665,072 3,369,144
Warrants to Purchase Shares of Stock    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive shares excluded from calculation of diluted net loss per share 721,913 474,723