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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%