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Net Loss Per Share - Schedule of Common Stock Equivalents Excluded from Computation of Diluted Loss per Share (Details) - shares
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount 6,837,239 5,618,587
Outstanding stock options    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount 4,905,585 3,808,563
Nonvested restricted stock and unit awards    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount 1,216,455 1,094,825
Stock purchase warrants    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount 715,199 715,199