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Net Loss Per Share - Schedule of Outstanding Potentially Dilutive Securities Excluded From Calculation of Diluted Net Loss (Details) - shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 3,332,386 2,844,193
Stock Options to Purchase Common Stock    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 1,898,395 1,320,243
Shares Available for Future Option Grants    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 1,433,991 1,523,950