Annual report pursuant to Section 13 and 15(d)

Subsequent Events - Additional Information (Details)

v3.21.1
Subsequent Events - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Feb. 11, 2021
Feb. 28, 2021
Jan. 31, 2021
Jan. 01, 2021
Dec. 31, 2020
Jun. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
April 2020 Note Purchase Agreement                
Subsequent Event [Line Items]                
Conversion of convertible note, amount         $ 2,000,000.0 $ 2,000,000.0    
Conversion of convertible note exchanged for shares         322,348 316,461    
2014 Equity Incentive Plan                
Subsequent Event [Line Items]                
Share-based compensation arrangement by share-based payment award, number of additional shares authorized             389,650 191,887
2014 Employee Stock Purchase Plan                
Subsequent Event [Line Items]                
Share-based compensation arrangement by share-based payment award, number of additional shares authorized             2,941 2,941
Subsequent Event | Amplity Inc.                
Subsequent Event [Line Items]                
Term of agreement   5 years            
Subsequent Event | Exclusive License and Collaboration Agreement                
Subsequent Event [Line Items]                
Upfront payment received $ 10,000,000              
Subsequent Event | Exclusive License and Collaboration Agreement | Maximum                
Subsequent Event [Line Items]                
Development and commercial milestones received $ 112,000,000              
Subsequent Event | April 2020 Note Purchase Agreement                
Subsequent Event [Line Items]                
Conversion of convertible note, amount     $ 6,000,000.0          
Conversion of convertible note exchanged for shares     959,080          
Subsequent Event | 2014 Equity Incentive Plan                
Subsequent Event [Line Items]                
Share-based compensation arrangement by share-based payment award, number of additional shares authorized       786,547        
Subsequent Event | 2014 Employee Stock Purchase Plan                
Subsequent Event [Line Items]                
Share-based compensation arrangement by share-based payment award, number of additional shares authorized       2,941