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Net Loss Per Share - Computation of Basic and Diluted Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2021	Sep. 30, 2020
Numerator:
Net loss	$ (18,651)	$ (16,110)	$ (16,514)	$ (14,631)	$ (12,387)	$ (13,139)	$ (51,275)	$ (40,157)
Denominator:
Weighted average common shares outstanding	29,491,857			24,474,157			26,663,209	24,019,746
Less: weighted-average unvested common shares subject to repurchase				(25,042)				(29,820)
Weighted-average shares used to compute net loss per share, basic and diluted	29,491,857			24,449,115			26,663,209	23,989,926
Net loss per share, basic and diluted	$ (0.63)			$ (0.60)			$ (1.92)	$ (1.67)

X

- Definition

The amount of net income or loss for the period per each share in instances when basic and diluted earnings per share are the same amount and reported as a single line item on the face of the financial statements. Basic earnings per share is the amount of net income or loss for the period per each share of common stock or unit outstanding during the reporting period. Diluted earnings per share includes the amount of net income or loss for the period available to each share of common stock or common unit outstanding during the reporting period and to each share or unit that would have been outstanding assuming the issuance of common shares or units for all dilutive potential common shares or units outstanding during the reporting period.

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