Quarterly report pursuant to Section 13 or 15(d)

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

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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Sep. 30, 2021
Dec. 31, 2020
Stockholders Equity [Line Items]    
Reserved common stock 11,304,520 8,331,103
Common Stock Options Issued and Outstanding    
Stockholders Equity [Line Items]    
Reserved common stock 6,533,772 5,439,295
Restricted Common Stock Units Issued and Outstanding    
Stockholders Equity [Line Items]    
Reserved common stock 2,262,776 666,375
Remaining Shares Reserved for Issuance Under 2004 and 2018 Equity Incentive Plan    
Stockholders Equity [Line Items]    
Reserved common stock 1,681,651 1,710,824
Shares Reserved for Issuance Under 2018 Employee Stock Purchase Plan    
Stockholders Equity [Line Items]    
Reserved common stock 673,251 361,539
Warrants to Purchase Common Stock    
Stockholders Equity [Line Items]    
Reserved common stock 153,070 153,070