Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity (Deficit) - Schedule of Common Stock Reserved for Future Issuance (Details)

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Stockholders' Equity (Deficit) - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Dec. 31, 2020
Dec. 31, 2019
Stockholder Equity [Line Items]    
Reserved common stock 8,331,103 7,357,234
Common Stock Options Issued and Outstanding    
Stockholder Equity [Line Items]    
Reserved common stock 5,439,295 3,872,664
Common Stock Awards Issued and Outstanding    
Stockholder Equity [Line Items]    
Reserved common stock 666,375 335,799
Remaining Shares Reserved for Issuance Under 2004 and 2018 Equity Incentive Plan    
Stockholder Equity [Line Items]    
Reserved common stock 1,710,824 2,750,416
Shares Reserved for Issuance Under 2018 Employee Stock Purchase Plan    
Stockholder Equity [Line Items]    
Reserved common stock 361,539 326,542
Warrants to Purchase Common Stock    
Stockholder Equity [Line Items]    
Reserved common stock 153,070 71,813