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Stock-Based Compensation - Additional Information (Details) - $ / shares |  |  |  | 1 Months Ended | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | --- | --- | --- | ---
May 31, 2021 | Jan. 01, 2021 | Jan. 01, 2020 | Aug. 31, 2021 | Sep. 30, 2021 | Sep. 30, 2021 | Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Number of Shares Available for Grant, Options granted |  |  |  |  |  | (2,171,632) |
Number of shares of common stock available for grant |  |  |  |  | 2,693,497 | 2,693,497 | 1,739,621
Number of shares reserved for issuance |  |  |  |  | 362,503 | 362,503 |
Weighted-Average Exercise Price, Options exercised |  |  |  |  |  | $ 2.98 |
2017 and 2018 Stock Incentive Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Number of shares of common stock available for grant |  |  |  |  | 2,349,535 | 2,349,535 |
Number of shares reserved for issuance |  |  |  |  | 2,686,287 | 2,686,287 |
Weighted-Average Exercise Price, Options exercised |  |  |  |  |  | $ 15.41 |
2014 Stock Incentive Plan Member |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Number of shares reserved for issuance |  |  |  |  | 22,989 | 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 |  |  |  |  | 343,961 | 343,961 |
Number of shares reserved for issuance |  |  |  |  | 1,421,746 | 1,421,746 |
Weighted-Average Exercise Price, Options exercised |  |  |  |  |  | $ 8.96 |
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 | 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 of common stock available for grant | 6,410 |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Probability of Achieving Milestone |  |  |  |  |  | 100.00% |
Grant fair value | $ 15.60 |  |  |  |  |  |
Number of shares of common stock available for grant |  |  |  | 210,750 |  |  |
Weighted-Average Exercise Price, Options exercised |  |  |  | $ 7.12 |  |  |
Performance Stock Units (PSUs) [Member] |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Number of Shares Available for Grant, Options granted | (6,410) |  |  |  |  |  |

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