Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Narrative (Details)

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Stockholders' Equity - Narrative (Details) - USD ($)
 1 Months Ended 3 Months Ended
Feb. 28, 2021
Jan. 31, 2021
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Aug. 14, 2020
Subsidiary, Sale of Stock [Line Items]            
Common stock, shares authorized (in shares)     1,000,000,000   1,000,000,000  
Common stock, par value (in dollars per share)     $ 0.0001   $ 0.0001  
Common stock, shares outstanding (in shares)     71,211,399   56,380,111  
Common stock, shares issued (in shares)     71,211,399   56,380,111  
Restricted shares subject to repurchase for unvested shares related to early option exercises under stock equity plans (in shares)     574      
Proceeds from issuance of common stock     $ 29,705,000 $ 0    
Sales Agreement            
Subsidiary, Sale of Stock [Line Items]            
Aggregate offering price           $ 15,000,000
At-The-Market Offering            
Subsidiary, Sale of Stock [Line Items]            
Proceeds from issuance of common stock   $ 5,058,000        
Payments of stock offering costs   $ 156,000        
Underwritten Offering            
Subsidiary, Sale of Stock [Line Items]            
Proceeds from issuance of common stock $ 24,722,000          
Payments of stock offering costs 1,740,000          
Additional transaction costs $ 75,000          
Common Stock            
Subsidiary, Sale of Stock [Line Items]            
Sales of common stock, net of issuance costs (in shares)     14,431,000      
Common Stock | At-The-Market Offering            
Subsidiary, Sale of Stock [Line Items]            
Sales of common stock, net of issuance costs (in shares)   2,670,121        
Common Stock | Underwritten Offering            
Subsidiary, Sale of Stock [Line Items]            
Sales of common stock, net of issuance costs (in shares) 11,761,111          
Exercise price per share (in dollars per share) $ 2.25