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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