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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)