Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	13,376,141	9,466,782
Stock options
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	6,415,030	5,608,057
Unvested Restricted Stock Units
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	1,970,955	1,713,083
Warrants
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	4,990,156	2,145,642