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Stock-Based Compensation Expense - Additional Information (Details) - USD ($) | 1 Months Ended | 12 Months Ended
--- | --- | ---
Apr. 30, 2020 | Feb. 29, 2016 | Dec. 31, 2020 | Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares granted |  |  | 763,505 |
Shares of common stock reserved for future issuances |  |  | 3,038,653 |
Stock-based compensation expense |  |  | $ 1,813,000 | $ 244,000
Weighted-average fair value of options granted to employees, directors and consultants |  |  | $ 9.66 | $ 3.45
Aggregate intrinsic value of stock options exercised |  |  | $ 27,000 | $ 200,000
Unrecognized stock-based compensation expense relating to unvested stock options |  |  | $ 6,200,000 |
Unvested stock options expected to be recognized over a weighted-average period |  |  | 3 years 2 months 12 days |
Milestone-based Awards |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense |  |  | $ 0 | $ 0
Revenue Based Milestone Awards [Member] |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Unrecognized stock-based compensation expense relating to unvested stock options |  |  | $ 36,000 |
Minimum [Member] |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Vesting period |  |  | 4 years |
Maximum |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock option expiration period |  |  | 10 years |
2005 and 2016 Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares granted |  | 0 |  |
2020 Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Shares of common stock reserved for future issuances | 2,100,000 |  |  |
Maximum number of common shares issued | 8,800,000 |  |  |
Percentage of common shares increase automatically in each year | 4.00% |  |  |
Number of shares available for future grant |  |  | 1,459,767 |
2020 ESPP |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Shares of common stock reserved for future issuances | 150,000 |  |  |
Maximum number of common shares issued | 987,500 |  |  |
Annual increase in number of shares available for issuance as percentage of outstanding shares common stock on final day of immediately preceding fiscal year | 0.50% |  |  |
Purchase price of shares as percentage lower of fair market value of common stock | 85.00% |  |  |

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