Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	13,564,707	9,291,165
Stock options
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	6,504,401	5,504,177
Unvested Restricted Stock Units
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	2,070,150	1,641,346
Warrants
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	4,990,156	2,145,642