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 6 Months Ended
Apr. 07, 2021
Feb. 28, 2021
Jan. 31, 2021
Jun. 30, 2021
Jun. 30, 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)       72,742,689   56,380,111  
Common stock, shares issued (in shares)       72,742,689   56,380,111  
Restricted shares subject to repurchase for unvested shares related to early option exercises under stock equity plans (in shares)       574   574  
Proceeds from issuance of common stock       $ 29,670,000 $ 0    
Prepaid expenses and other current assets       1,586,000   $ 304,000  
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          
At Market Issuance Sales Agreement              
Subsidiary, Sale of Stock [Line Items]              
Proceeds from issuance of common stock       112,000      
Payments of stock offering costs       30,000      
Additional transaction costs       147,000      
Sale of stock, aggregate offering price $ 25,000,000            
Gross proceeds of sales price per share (as a percent) 3.00%            
Termination notice period 5 days            
Aggregate net proceeds received       $ 979,000      
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          
Common Stock | At Market Issuance Sales Agreement              
Subsidiary, Sale of Stock [Line Items]              
Sales of common stock, net of issuance costs (in shares)       691,584