Annual report pursuant to Section 13 and 15(d)

Stock-Based Compensation - Summary of Activity under Stock Option Plans and Related Information (Details)

v3.20.4
Stock-Based Compensation - Summary of Activity under Stock Option Plans and Related Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Number of options outstanding, Outstanding, Beginning balance 3,107,066  
Number of options outstanding, Options granted 1,503,876  
Number of options outstanding, Options exercised (56,653)  
Number of options outstanding, Options cancelled/forfeited (65,167)  
Number of options outstanding, Outstanding, Ending balance 4,489,122 3,107,066
Number of options outstanding, options vested and exercisable 2,358,197  
Weighted average exercise price, Outstanding, Beginning balance $ 7.19  
Weighted average exercise price, Options granted 3.87  
Weighted average exercise price, Options exercised 1.95  
Weighted average exercise price, Options cancelled/forfeited 7.84  
Weighted average exercise price, Outstanding, Ending balance 6.14 $ 7.19
Weighted average exercise price, options vested and exercisable $ 5.62  
Weighted average remaining contractual term, (Years) Outstanding, Beginning balance 7 years 9 months 18 days 8 years 2 months 12 days
Weighted average remaining contractual term, (Years) options vested and exercisable 7 years  
Aggregate intrinsic value, Outstanding, Beginning balance $ 3,151  
Aggregate intrinsic value, Options exercised 185  
Aggregate intrinsic value, Outstanding, Ending balance 7,134 $ 3,151
Aggregate intrinsic value, options vested and exercisable $ 4,627