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Shareholders' Equity - Additional Information (Details)
 12 Months Ended
Jan. 01, 2021
shares
Jan. 01, 2020
shares
Jul. 01, 2019
shares
Jun. 30, 2019
shares
Dec. 31, 2020
Vote
$ / shares
shares
Dec. 31, 2019
$ / shares
shares
Dec. 31, 2014
$ / shares
shares
Dec. 31, 2018
shares
Dec. 31, 2017
shares
Class Of Stock [Line Items]                  
Preferred stock, shares authorized         10,000,000 10,000,000      
Preferred stock, par value | $ / shares         $ 0.0001 $ 0.0001      
Preferred stock, shares outstanding         0 0      
Common stock authorized         340,000,000 340,000,000      
Common stock par value | $ / shares         $ 0.0001 $ 0.0001      
Common stock voting rights description         Holders of our common stock are entitled to one vote for each share of common stock held        
Number of vote for each share | Vote         1        
Common stock outstanding         137,646,896 125,238,142      
Warrants issued to purchase stock         56,875        
Common Stock                  
Class Of Stock [Line Items]                  
Warrants issued to purchase stock         20,000        
Warrant exercisable term         10 years        
Weighted-average exercise price of warrants | $ / shares         $ 0.37        
Exercise price of warrants | $ / shares         $ 0.45        
Stock issued during period, common stock     54,792     54,792      
Series C Convertible Preferred Stock                  
Class Of Stock [Line Items]                  
Warrants issued to purchase stock             56,875    
Warrant exercisable term             7 years    
Weighted-average exercise price of warrants | $ / shares             $ 2.64    
Employee Stock Purchase Plan                  
Class Of Stock [Line Items]                  
Increase in share reserve   1,252,381              
Maximum | Common Stock                  
Class Of Stock [Line Items]                  
Warrants issued to purchase stock         55,032        
Maximum | Employee Stock Purchase Plan                  
Class Of Stock [Line Items]                  
Percentage of annual increases in number of shares   1.00%              
2019 Equity Incentive Plan                  
Class Of Stock [Line Items]                  
Increase in share reserve   6,261,907              
2019 Equity Incentive Plan | Subsequent Event                  
Class Of Stock [Line Items]                  
Increase in share reserve 6,882,344                
2019 Equity Incentive Plan | Maximum                  
Class Of Stock [Line Items]                  
Percentage of annual increases in number of shares   5.00%              
Convertible Preferred Stock                  
Class Of Stock [Line Items]                  
Conversion of convertible preferred stock       93,039,737          
Convertible preferred stock outstanding         0     92,790,094 92,656,029