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Stock-Based Compensation - Additional Information (Details) - $ / shares |  |  | 6 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
Jan. 01, 2021 | Jan. 01, 2020 | Jun. 30, 2021 | May 31, 2021 | Dec. 31, 2020 | Jun. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of Shares Available for Grant, Options granted |  |  | (1,911,472) |  |  |
Number of shares of common stock available for grant |  |  | 2,860,244 |  | 1,739,621 | 0
Number of shares reserved for issuance |  |  | 362,503 |  |  |
Weighted-Average Exercise Price, Options exercised |  |  | $ 2.91 |  |  |
2017 and 2018 Stock Incentive Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Probability of Achieving Milestone |  |  | 10000.00% |  |  |
Number of shares of common stock available for grant |  |  | 2,529,290 |  |  |
Number of shares reserved for issuance |  |  | 2,506,532 |  |  |
Weighted-Average Exercise Price, Options exercised |  |  | $ 15.40 |  |  |
2014 Stock Incentive Plan Member |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares reserved for issuance |  |  | 22,989 |  |  |
Weighted-Average Exercise Price, Options exercised |  |  | $ 1.61 |  |  |
2015 Stock Incentive Plan Member |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares of common stock available for grant |  |  | 324,543 |  |  |
Number of shares reserved for issuance |  |  | 1,878,756 |  |  |
Weighted-Average Exercise Price, Options exercised |  |  | $ 8.71 |  |  |
2018 Employee Stock Purchase Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of additional shares reserved for issuance | 209,135 | 131,432 | 524,775 |  |  |
Number of shares available for sale under employee stock purchase plan |  |  | 0 |  |  |
Inducement Grant |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Weighted-Average Exercise Price, Options exercised |  |  | $ 14.33 |  |  |
Performance Restricted Stock [Member] |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of Shares Available for Grant, Options granted |  |  | (6,410) |  |  |
Number of shares of common stock available for grant |  |  |  | 6,410 |  |

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