Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity (Deficit) - Additional Information (Details)

v3.20.4
Stockholders' Equity (Deficit) - Additional Information (Details) - $ / shares
1 Months Ended 12 Months Ended
Oct. 01, 2018
Aug. 31, 2017
Dec. 31, 2020
Feb. 28, 2020
Dec. 31, 2019
Oct. 30, 2018
Stockholder Equity [Line Items]            
Voting rights per share     one vote per share      
Preferred stock shares authorized     10,000,000   10,000,000 10,000,000
Preferred stock, par value     $ 0.001   $ 0.001 $ 0.001
Preferred stock, outstanding     0   0  
Loan and Security Agreement | Oxford Finance LLC            
Stockholder Equity [Line Items]            
Issuance of warrants to purchase shares       54,171    
Loan and Security Agreement | Silicon Valley Bank            
Stockholder Equity [Line Items]            
Issuance of warrants to purchase shares       27,086    
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank            
Stockholder Equity [Line Items]            
Issuance of warrants to purchase shares       81,257    
Exercise price per share       $ 9.23    
Series E Redeemable Convertible Preferred Stock            
Stockholder Equity [Line Items]            
Issuance of warrants to purchase shares 46,359          
Preferred stock, conversion basis 1-for-0.0275          
Series C Redeemable Convertible Preferred Stock            
Stockholder Equity [Line Items]            
Issuance of warrants to purchase shares 25,454          
Preferred stock, conversion basis 1-for-0.0370          
Cancellation of redeemable convertible preferred warrants 1,232,220          
Conversion of warrants to purchase of shares of common stock 687,928          
Oxford Finance LLC and Silicon Valley Bank | Series D Two Redeemable Convertible Preferred Stock | Loan and Security Agreement            
Stockholder Equity [Line Items]            
Issuance of warrants to purchase shares   682,230        
Exercise price per share   $ 0.6596        
Oxford Finance LLC and Silicon Valley Bank | Series E Redeemable Convertible Preferred Stock | Loan and Security Agreement            
Stockholder Equity [Line Items]            
Issuance of warrants to purchase shares   1,682,871        
Exercise price per share   $ 0.2674        
Term of warrant exercisable   10 years