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, 2020	Sep. 30, 2019
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	9,389,565	8,544,035
Stock options
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	5,549,290	4,651,250
Unvested Restricted Stock Units
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	1,694,633	1,108,691
Warrants
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	2,145,642	2,118,094
Convertible Preferred Stock
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders		666,000