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Debt - Future Payments (Details) - USD ($)
12 Months Ended
Oct. 16, 2020
Dec. 31, 2020
Dec. 31, 2019
Aug. 31, 2015
Debt        
2022   $ 833,000    
2023   10,000,000    
2024   10,000,000    
2025   5,167,000    
Total payments   26,000,000    
Interest expense   $ 400,000 $ 27,000  
Loan and Security Agreement        
Debt        
Debt discount $ 300,000      
Debt issuance costs payment 100,000      
Line of credit maximum $ 50,000,000.0      
SVB        
Debt        
Line of credit maximum       $ 2,000,000.0
Amount outstanding       $ 2,000,000.0