Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares	9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	13,105,468	9,389,565
Stock options
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	6,264,350	5,549,290
Unvested Restricted Stock Units
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	1,850,962	1,694,633
Warrants
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	4,990,156	2,145,642