Entity Central Index Key Cover [Abstract] Document Type Document Type Document Annual Report Document Annual Report Document Transition Report Document Transition Report Document Period End Date Document Period End Date Entity File Number Entity File Number Entity Registrant Name Entity Registrant Name Entity Incorporation, State or Country Code Entity Incorporation State Country Code Entity Tax Identification Number Entity Tax Identification Number Entity Address, Address Line One Entity Address Address Line1 Entity Address, Address Line Two Entity Address Address Line2 Entity Address, City or Town Entity Address City Or Town Entity Address, State or Province Entity Address State Or Province Entity Address, Postal Zip Code Entity Address Postal Zip Code City Area Code City Area Code Local Phone Number Local Phone Number Title of 12(b) Security Security12b Title Trading Symbol Trading Symbol Security Exchange Name Security Exchange Name Entity Well-known Seasoned Issuer Entity Well Known Seasoned Issuer Entity Voluntary Filers Entity Voluntary Filers Entity Current Reporting Status Entity Current Reporting Status Entity Interactive Data Current Entity Interactive Data Current Entity Filer Category Entity Filer Category Entity Small Business Entity Small Business Entity Emerging Growth Company Entity Emerging Growth Company Entity Ex Transition Period Entity Ex Transition Period Entity Shell Company Entity Shell Company Entity Common Stock, Shares Outstanding Entity Common Stock Shares Outstanding Entity Public Float Entity Public Float Current Fiscal Year End Date Current Fiscal Year End Date Document Fiscal Year Focus Document Fiscal Year Focus Document Fiscal Period Focus Document Fiscal Period Focus Entity Central Index Key Amendment Flag Amendment Flag ICFR Auditor Attestation Flag Icfr Auditor Attestation Flag Statement Of Financial Position [Abstract] Assets Assets [Abstract] Current assets Assets Current [Abstract] Cash and cash equivalents Cash And Cash Equivalents At Carrying Value Short-term marketable securities Available For Sale Securities Debt Securities Current Prepaid expenses and other current assets Prepaid Expense And Other Assets Current Total current assets Assets Current Property and equipment, net Property Plant And Equipment Net Other assets Other Assets Noncurrent Total assets Assets Liabilities, Convertible Preferred Stock, and Stockholders’ Equity (Deficit) Liabilities And Stockholders Equity [Abstract] Current liabilities Liabilities Current [Abstract] Accounts payable Accounts Payable Current Accrued expenses Accrued Liabilities Current Total current liabilities Liabilities Current Other liabilities Other Liabilities Noncurrent Total liabilities Liabilities Commitments and contingencies (see Note 6) Commitments And Contingencies Convertible preferred stock, accumulated liquidation value of $0 and $169,385 at December 31, 2020 and 2019, respectively Temporary Equity Carrying Amount Attributable To Parent Stockholders’ equity (deficit): Stockholders Equity [Abstract] Preferred stock, $0.00001 par value, 5,000,000 and no shares authorized at December 30, 2020 and 2019, respectively, no shares issued or outstanding at December 31, 2020 and 2019, respectively Preferred Stock Value Common stock, $0.00001 par value, 1,000,000,000 and 33,250,829 shares authorized; 44,777,818 and 3,046,200 shares issued and outstanding at December 31, 2020 and 2019, respectively Common Stock Value Additional paid-in capital Additional Paid In Capital Common Stock Accumulated deficit Retained Earnings Accumulated Deficit Accumulated other comprehensive loss Accumulated Other Comprehensive Income Loss Net Of Tax Total stockholders’ equity (deficit) Stockholders Equity Total liabilities, convertible preferred stock, and stockholders’ equity (deficit) Liabilities And Stockholders Equity Convertible preferred stock, accumulated liquidation value Temporary Equity Liquidation Preference Preferred stock, par value Preferred Stock Par Or Stated Value Per Share Preferred stock, shares authorized Preferred Stock Shares Authorized Preferred stock, shares issued Preferred Stock Shares Issued Preferred stock, shares outstanding Preferred Stock Shares Outstanding Common stock, par value Common Stock Par Or Stated Value Per Share Common stock, shares authorized Common Stock Shares Authorized Common stock, shares issued Common Stock Shares Issued Common stock, shares outstanding Common Stock Shares Outstanding Other nonoperating income (expense), other. Income Statement [Abstract] Operating Expenses: Operating Expenses [Abstract] Research and development Research And Development Expense General and administrative General And Administrative Expense Total operating expenses Operating Expenses Loss from operations Operating Income Loss Other income: Other Nonoperating Income Expense [Abstract] Interest income, net Interest Income Expense Net Other (expense) income Other Nonoperating Income Expense Other Total other income Other Nonoperating Income Expense Loss before provision for income taxes Income Loss From Continuing Operations Before Income Taxes Extraordinary Items Noncontrolling Interest Provision for income taxes Income Tax Expense Benefit Net loss Net Income Loss Unrealized gains on marketable securities, net of tax Other Comprehensive Income Loss Available For Sale Securities Adjustment Net Of Tax Comprehensive loss Comprehensive Income Net Of Tax Net loss per share—basic and diluted Earnings Per Share Basic And Diluted Weighted-average common shares outstanding Weighted Average Number Of Share Outstanding Basic And Diluted Stock issued during period value exercise of warrants. Stock issued during period, shares, exercise of warrants. Statement Of Stockholders Equity [Abstract] Statement [Table] Statement [Table] Equity Components Statement Equity Components [Axis] Equity Component Equity Component [Domain] Common Stock Common Stock [Member] Additional Paid-in Capital Additional Paid In Capital [Member] Accumulated Other Comprehensive Loss Accumulated Other Comprehensive Income [Member] Accumulated Deficit Retained Earnings [Member] Class of Stock Statement Class Of Stock [Axis] Class of Stock Class Of Stock [Domain] Convertible Preferred Stock Convertible Preferred Stock [Member] Series C Convertible Preferred Stock Series C Preferred Stock [Member] Series D Convertible Preferred Stock Series D Preferred Stock [Member] Statement [Line Items] Statement [Line Items] Balance Balance, Shares Temporary Equity Shares Outstanding Balance Balance, Shares Shares Outstanding Issuance of convertible preferred stock Temporary Equity Stock Issued During Period Value New Issues Temporary equity, stock issued during period, shares, new issues. Issuance of convertible preferred stock, Shares Temporary Equity Stock Issued During Period Shares New Issues Conversion of convertible preferred stock to common stock Reclassifications Of Temporary To Permanent Equity Reclassifications of temporary to permanent equity, shares. Conversion of convertible preferred stock to common stock, Shares Reclassifications Of Temporary To Permanent Equity Shares Conversion of convertible preferred stock to common stock Stock Issued During Period Value Conversion Of Convertible Securities Conversion of convertible preferred stock to common stock, Shares Stock Issued During Period Shares Conversion Of Convertible Securities Exercise of warrants Stock Issued During Period Value Exercise Of Warrants Exercise of warrants, Shares Stock Issued During Period Shares Exercise Of Warrants Issuance of common stock, net of issuance costs Stock Issued During Period Value New Issues Issuance of common stock, net of issuance costs, Shares Stock Issued During Period Shares New Issues Exercise of stock options Stock Issued During Period Value Stock Options Exercised Exercise of stock options, Shares Stock Issued During Period Shares Stock Options Exercised Stock-based compensation expense Adjustments To Additional Paid In Capital Sharebased Compensation Requisite Service Period Recognition Value Net loss Unrealized gain on available for sale investments Other Comprehensive Income Unrealized Holding Gain Loss On Securities Arising During Period Net Of Tax Balance Balance, Shares Balance Balance, Shares Issuance costs Adjustments To Additional Paid In Capital Stock Issued Issuance Costs Conversion of convertible preferred stock to common stock. Conversion of warrant liability to common stock. Statement Of Cash Flows [Abstract] Cash flows from operating activities: Net Cash Provided By Used In Operating Activities [Abstract] Net loss Profit Loss Adjustments to reconcile net loss to net cash used in operating activities: Adjustments Noncash Items To Reconcile Net Income Loss To Cash Provided By Used In Operating Activities [Abstract] Stock based compensation Share Based Compensation Depreciation Depreciation Amortization of premiums on marketable securities Accretion Amortization Of Discounts And Premiums Investments Other Other Noncash Income Expense Changes in operating assets and liabilities: Increase Decrease In Operating Capital [Abstract] Prepaid expenses and other assets Increase Decrease In Prepaid Deferred Expense And Other Assets Accounts payable Increase Decrease In Accounts Payable Accrued expenses Increase Decrease In Accrued Liabilities Net cash used in operating activities Net Cash Provided By Used In Operating Activities Cash flows from investing activities: Net Cash Provided By Used In Investing Activities [Abstract] Acquisition of property and equipment Payments To Acquire Property Plant And Equipment Purchase of marketable securities Payments To Acquire Marketable Securities Maturities of marketable securities Proceeds From Sale And Maturity Of Marketable Securities Net cash provided by investing activities Net Cash Provided By Used In Investing Activities Cash flows from financing activities: Net Cash Provided By Used In Financing Activities [Abstract] Proceeds from issuance of convertible preferred stock, net of issuance costs Proceeds From Issuance Of Convertible Preferred Stock Proceeds from issuance of common shares, net of issuance costs Proceeds From Issuance Of Common Stock Proceeds from exercise of stock options Proceeds From Stock Options Exercised Net cash provided by financing activities Net Cash Provided By Used In Financing Activities Net increase in cash and cash equivalents Cash Cash Equivalents Restricted Cash And Restricted Cash Equivalents Period Increase Decrease Including Exchange Rate Effect Cash and cash equivalents Cash Cash Equivalents Restricted Cash And Restricted Cash Equivalents Including Disposal Group And Discontinued Operations [Abstract] Cash and cash equivalents—beginning of period Cash Cash Equivalents Restricted Cash And Restricted Cash Equivalents Including Disposal Group And Discontinued Operations Cash and cash equivalents—end of period Supplemental disclosures of noncash financing activities Cash Flow Noncash Investing And Financing Activities Disclosure [Abstract] Conversion of convertible preferred stock to common stock Conversion Of Convertible Preferred Stock To Common Stock Conversion of warrant liability to common stock Conversion Of Warrant Liability To Common Stock Supplemental disclosures of cash flow information Supplemental Cash Flow Information [Abstract] Cash paid for income tax Income Taxes Paid Net Documents Incorporated by Reference Documents Incorporated By Reference [Text Block] Organization Consolidation And Presentation Of Financial Statements [Abstract] Formation and Business of the Company Business Description And Basis Of Presentation [Text Block] Accounting Policies [Abstract] Summary of Significant Accounting Policies Significant Accounting Policies [Text Block] Fair Value Disclosures [Abstract] Financial Instruments and Fair Value Measurements Fair Value Disclosures [Text Block] Property Plant And Equipment [Abstract] Property and Equipment, Net Property Plant And Equipment Disclosure [Text Block] Payables And Accruals [Abstract] Accrued Expenses Accounts Payable Accrued Liabilities And Other Liabilities Disclosure Current [Text Block] Commitments And Contingencies Disclosure [Abstract] Commitments and Contingencies Commitments And Contingencies Disclosure [Text Block] Temporary Equity Disclosure [Abstract] Convertible Preferred Stock Preferred Stock [Text Block] Common stock. Equity [Abstract] Common Stock Common Stock Disclosure [Text Block] Disclosure Of Compensation Related Costs Sharebased Payments [Abstract] Stock Plan Disclosure Of Compensation Related Costs Share Based Payments [Text Block] Income Tax Disclosure [Abstract] Income Taxes Income Tax Disclosure [Text Block] Earnings Per Share [Abstract] Net Loss per Share Earnings Per Share [Text Block] Related Party Transactions [Abstract] Related Parties Related Party Transactions Disclosure [Text Block] Basis of Presentation Basis Of Accounting Policy Policy [Text Block] Use of Estimates Use Of Estimates Reverse stock split. Reverse Stock Split Reverse Stock Split Policy [Text Block] Fair Value of Financial Instruments Fair Value Of Financial Instruments Policy Cash, cash equivalents and marketable securities. Cash, Cash Equivalents and Marketable Securities Cash Cash Equivalents And Marketable Securities Policy [Text Block] Property and Equipment Property Plant And Equipment Policy [Text Block] Impairment of Long-Lived Assets Impairment Or Disposal Of Long Lived Assets Policy [Text Block] Comprehensive Income/Loss Comprehensive Income Policy Policy [Text Block] Research and Development Expenses Research And Development Expense Policy Convertible preferred stock. Convertible Preferred Stock Convertible Preferred Stock Policy [Text Block] Derivative Liabilities Derivatives Policy [Text Block] Stock Based Compensation Share Based Compensation Option And Incentive Plans Policy Segment Reporting Segment Reporting Policy Policy [Text Block] Net Loss per Common Share Earnings Per Share Policy [Text Block] Income Taxes Income Tax Policy [Text Block] Recent Accounting Pronouncements New Accounting Pronouncements Policy Policy [Text Block] Concentration of credit risk and other risks and uncertainties. Concentration of Credit Risk and Other Risks and Uncertainties Concentration Of Credit Risk And Other Risks And Uncertainties Policy [Text Block] Summary of Cash Equivalents and Available-for-sale Securities Carrying Amounts and Fair Values Fair Value Assets Measured On Recurring And Nonrecurring Basis Table [Text Block] Summary of Warrant Liability Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Text Block] Summary of Property and Equipment, Net Property Plant And Equipment [Text Block] Summary of Accrued Expenses Schedule Of Accrued Liabilities Table [Text Block] Schedule of Minimum Lease Payments under Leases Schedule Of Future Minimum Rental Payments For Operating Leases Table [Text Block] Schedule of Preferred Stock Temporary Equity Table [Text Block] Schedule of Reserved Shares of Common Stock for Issuance Schedule Of Stock By Class [Text Block] Schedule Of Share Based Compensation Arrangements By Share Based Payment Award [Table] Schedule Of Share Based Compensation Arrangements By Share Based Payment Award [Table] Plan Name Plan Name [Axis] Plan Name Plan Name [Domain] Two thousand twenty employee stock purchase plan. 2020 ESPP Two Thousand Twenty Employee Stock Purchase Plan [Member] Share Based Compensation Arrangement By Share Based Payment Award [Line Items] Share Based Compensation Arrangement By Share Based Payment Award [Line Items] Schedule of Stock Options Activity Schedule Of Share Based Compensation Stock Options Activity Table [Text Block] Schedule of Estimated Fair Value of Stock Options Schedule Of Share Based Payment Award Stock Options Valuation Assumptions Table [Text Block] Stock-based Compensation Expense Related to Options Granted Recorded and Allocated Schedule Of Compensation Cost For Share Based Payment Arrangements Allocation Of Share Based Compensation Costs By Plan Table [Text Block] Summary of Provision for Income Taxes Schedule Of Effective Income Tax Rate Reconciliation Table [Text Block] Summary of Deferred Tax Assets and Liabilities Schedule Of Deferred Tax Assets And Liabilities Table [Text Block] Summary of Activity Related to Unrecognized Tax Benefits Summary Of Income Tax Contingencies [Text Block] Schedule of Potentially Dilutive Common Stock Equivalent Excluded from Calculation of Diluted Net Loss per Share Schedule Of Antidilutive Securities Excluded From Computation Of Earnings Per Share [Text Block] Schedule of Computation of Net Loss per Share Schedule Of Earnings Per Share Basic And Diluted Table [Text Block] Proceeds from issuance of common stock gross. Organization, consolidation and presentation. Organization, consolidation and presentation. Organization Consolidation And Presentation [Table] Organization Consolidation And Presentation [Table] Sale of Stock Subsidiary Sale Of Stock [Axis] Sale of Stock Sale Of Stock Name Of Transaction [Domain] IPO I P O [Member] Underwriters Over Allotment Option [Member] Organization Consolidation And Presentation [Line Items] Organization Consolidation And Presentation [Line Items] Number of shares sold Public offering price per share Sale Of Stock Price Per Share Option to purchase common stock Sale Of Stock Number Of Shares Issued In Transaction Proceeds from issuance of common stock, gross Proceeds From Issuance Of Common Stock Gross Proceeds from issuance of common stock, net Reverse stock split description Stockholders Equity Reverse Stock Split Reverse stock split conversion ratio Stockholders Equity Note Stock Split Conversion Ratio1 Cash used in operating activities Summary of significant accounting policies. Summary of significant accounting policies. Summary Of Significant Accounting Policies [Table] Summary Of Significant Accounting Policies [Table] Accounting Standards Update Adjustments For New Accounting Pronouncements [Axis] Accounting Standards Update Type Of Adoption [Member] ASU 2018-07 Accounting Standards Update201807 [Member] ASU 2018-13 Accounting Standards Update201813 [Member] Summary Of Significant Accounting Policies [Line Items] Summary Of Significant Accounting Policies [Line Items] Amortization of available-for-sale debt securities Debt Securities Available For Sale Unrealized Gain Loss Marketable debt securities Available For Sale Securities Debt Securities Property and equipment, Estimated useful lives Property Plant And Equipment Estimated Useful Lives Other comprehensive income related to unrealized gains on marketable securities, net of tax Expected dividend yield Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Expected Dividend Rate Adoption of accounting standards update [true false] Change In Accounting Principle Accounting Standards Update Adopted Accounting standards update, adoption date Change In Accounting Principle Accounting Standards Update Adoption Date Accounting standards update, immaterial effect [true false] Change In Accounting Principle Accounting Standards Update Immaterial Effect Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Table] Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Table] Asset Class Fair Value By Asset Class [Axis] Asset Class Fair Value Assets Measured On Recurring Basis Unobservable Input Reconciliation By Asset Class [Domain] Money Market Funds Money Market Funds [Member] Corporate Securities Corporate Debt Securities [Member] Measurement Basis Fair Value By Measurement Basis [Axis] Fair Value Disclosure Item Amounts [Default] Portion At Fair Value Fair Value Disclosure [Member] Fair Value Measurement Fair Value Disclosure Item Amounts [Domain] Carrying Amount Carrying Reported Amount Fair Value Disclosure [Member] Fair Value Estimate Of Fair Value Fair Value Disclosure [Member] Fair Value Hierarchy and NAV Fair Value By Fair Value Hierarchy Level [Axis] Fair Value Hierarchy and NAV Fair Value Measurements Fair Value Hierarchy [Domain] Quoted Priced in Active Markets (Level 1) Fair Value Inputs Level1 [Member] Significant Other Observable Inputs (Level 2) Fair Value Inputs Level2 [Member] Significant Unobservable Inputs (Level 3) Fair Value Inputs Level3 [Member] Liability Class Fair Value By Liability Class [Axis] Fair Value by Liability Class Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation By Liability Class [Domain] Warrants liability. Warrant Liability Warrant Liability [Member] Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] Assets Assets Fair Value Disclosure [Abstract] Total assets Assets Fair Value Disclosure Liabilities Liabilities Fair Value Disclosure [Abstract] Total liabilities Liabilities Fair Value Disclosure Cash and Cash Equivalents Cash And Cash Equivalents [Axis] Cash and Cash Equivalents Restricted Cash And Cash Equivalents Cash And Cash Equivalents [Member] Financial Instrument Financial Instrument [Axis] Financial Instruments Transfers And Servicing Of Financial Instruments Types Of Financial Instruments [Domain] Corporate Debt Securities Level 1 Level 2 Cash equivalents Cash Equivalents At Carrying Value Marketable securities Marketable Securities Current Warrants to purchase common stock, exercised Class Of Warrant Or Righst Date From Which Warrants Or Rights Exercisable Reclassification to additional paid-in capital upon exercise. Balance Fair Value Measurement With Unobservable Inputs Reconciliations Recurring Basis Liability Value Changes in fair value Fair Value Measurement With Unobservable Inputs Reconciliation Recurring Basis Liability Gain Loss Included In Earnings Reclassification to additional paid-in capital upon exercise Reclassification To Additional Paid In Capital Upon Exercise Balance Schedule Of Property Plant And Equipment [Table] Schedule Of Property Plant And Equipment [Table] Long-Lived Tangible Asset Property Plant And Equipment By Type [Axis] Long-Lived Tangible Asset Property Plant And Equipment Type [Domain] Machinery & Equipment Machinery And Equipment [Member] Computers Computer Equipment [Member] Furniture & Fixtures Furniture And Fixtures [Member] Leasehold Improvements Leaseholds And Leasehold Improvements [Member] Assets not placed in service. Assets Not Placed in Service Assets Not Placed In Service [Member] Property Plant And Equipment [Line Items] Property Plant And Equipment [Line Items] Total property and equipment Property Plant And Equipment Gross Less: Accumulated depreciation Accumulated Depreciation Depletion And Amortization Property Plant And Equipment Property and equipment, net Accrued research and development costs current. Accrued compensation Workers Compensation Liability Current Accrued research and development costs Accrued Research And Development Costs Current Other accrued liabilities Other Accrued Liabilities Current Total 2021 Operating Leases Future Minimum Payments Due Current 2022 Operating Leases Future Minimum Payments Due In Two Years 2023 Operating Leases Future Minimum Payments Due In Three Years Thereafter Operating Leases Future Minimum Payments Due Thereafter Total future minimum lease payments Operating Leases Future Minimum Payments Due Commitments and contingencies disclosure. Commitments and contingencies disclosure. Commitments And Contingencies Disclosure [Table] Commitments And Contingencies Disclosure [Table] Geographical Statement Geographical [Axis] Geographical Segment Geographical [Domain] Princeton, New Jersey NEW JERSEY Commitments And Contingencies Disclosure [Line Items] Commitments And Contingencies Disclosure [Line Items] Rent expense Operating Leases Rent Expense Net Operating leases, extended year. Operating Leases, extension period Operating leases extended month and year. Lease area of square feet Area Of Land Operating Leases, extended year Operating Leases Extended Year Operating leases, extension period Operating Leases Extension Period Operating lease, payments Operating Lease Payments Operating leases extended month and year Operating Leases Extended Month And Year Operating lease, description Lessee Operating Lease Description Purchase commitments Purchase Commitment Remaining Minimum Amount Committed Temporary Equity By Class Of Stock [Table] Temporary Equity By Class Of Stock [Table] Series seed convertible preferred stock. Series Seed Preferred Series Seed Convertible Preferred Stock [Member] Series A Preferred Series A Preferred Stock [Member] Series B Preferred Series B Preferred Stock [Member] Series D convertible preferred stock. Series D Convertible Preferred Stock Series D Convertible Preferred Stock [Member] Statistical Measurement Range [Axis] Statistical Measurement Range [Member] Minimum Minimum [Member] Maximum Maximum [Member] Initial Offering Price to the Public Temporary Equity [Line Items] Temporary Equity [Line Items] Convertible preferred stock, shares authorized Temporary Equity Shares Authorized Convertible preferred stock, par value per share Temporary Equity Par Or Stated Value Per Share Preferred stock, shares issued Temporary Equity Shares Issued Preferred stock, shares outstanding Preferred stock authorized Preferred stock issued Preferred Stock Outstanding Carrying value Common stock issuable upon conversion Convertible Preferred Stock Shares Issued Upon Conversion Shares issued price per share Shares Issued Price Per Share Proceeds from issuance of convertible preferred stock Dividends, preferred stock declared Dividends Preferred Stock Number of members of board of directors elected by holders of preferred stock voting as single class. Number of members of board of directors elected by holders of common stock voting as single class. Number of members of board of directors elected by holders of preferred stock voting as single class Number Of Members Of Board Of Directors Elected By Holders Of Preferred Stock Voting As Single Class Number of members of board of directors elected by holders of common stock voting as single class Number Of Members Of Board Of Directors Elected By Holders Of Common Stock Voting As Single Class Preferred shares liquidation preference per share Temporary Equity Liquidation Preference Per Share Convertible preferred stock conversion price. Convertible preferred stock, terms of conversion Convertible Preferred Stock Terms Of Conversion Gross cash proceeds from public offering Proceeds From Issuance Initial Public Offering Offering price per share Convertible preferred stock conversion price Convertible Preferred Stock Conversion Price Dividends, common stock declared Dividends Common Stock Share based compensation arrangement by share based payment award number of shares available for employee stock purchase plan. Schedule Of Stock By Class [Table] Schedule Of Stock By Class [Table] Award Type Award Type [Axis] Award Type Share Based Compensation Arrangements By Share Based Payment Award Award Type And Plan Name [Domain] Options Issued and Outstanding Employee Stock Option [Member] Warrant Issued and Outstanding Warrant [Member] Class Of Stock [Line Items] Class Of Stock [Line Items] Reserved shares of common stock for issuance Common Stock Capital Shares Reserved For Future Issuance Shares available for future stock option grants Share Based Compensation Arrangement By Share Based Payment Award Number Of Shares Available For Grant Shares available for employee stock purchase plan Share Based Compensation Arrangement By Share Based Payment Award Number Of Shares Available For Employee Stock Purchase Plan Share-based compensation arrangement by share-based payment award, annual increase of authorized shares, percent of common stock outstanding. Two thousand twenty equity incentive plan. 2020 Plan Two Thousand Twenty Equity Incentive Plan [Member] Two thousand and thirteen stock plan. 2013 Stock Plan Two Thousand And Thirteen Stock Plan [Member] Title of Individual Title Of Individual [Axis] Title of Individual Title Of Individual With Relationship To Entity [Domain] Board member. Board Member Board Member [Member] Number of shares reserved for issuance Percentage of number of shares of common stock outstanding increase Share Based Compensation Arrangement By Share Based Payment Award Annual Increase Of Authorized Shares Percent Of Common Stock Outstanding Shares issued Share Based Compensation Arrangement By Share Based Payment Award Shares Issued In Period Common stock, capital shares reserved for future issuance, additional shares reserved, maximum. Purchase of common shares under discount offering period Number of additional shares reserved for issuance, maximum Common Stock Capital Shares Reserved For Future Issuance Additional Shares Reserved Maximum Percentage discount to purchase common stock under ESPP Share Based Compensation Arrangement By Share Based Payment Award Discount From Market Price Offering Date Offering period to purchase common shares at discount rate under ESPP Offering Period To Purchase Common Shares Under Discount Share-based compensation arrangement by share-based payment award, number of shares available for grant, shares reserved for issuance. Share-based compensation arrangement by share-based payment award, number of shares available for grant, grants in period. Share-based compensation arrangement by share-based payment award, number of shares available for grant, forfeitures in period. Share based compensation arrangement by share based payment award options shares available for grant. Shares Available For Grant Share Based Compensation Arrangement By Share Based Payment Award Options Shares Available For Grant Roll Forward Shares Available for Grant, Balance Shares Available for Grant, Shares reserved for issuance Share Based Compensation Arrangement By Share Based Payment Award Number Of Shares Available For Grant Shares Reserved For Issuance Shares Available for Grant, Options granted Share Based Compensation Arrangement By Share Based Payment Award Number Of Shares Available For Grant Grants In Period Shares Available for Grant, Options forfeited / cancelled Share Based Compensation Arrangement By Share Based Payment Award Number Of Shares Available For Grant Forfeitures In Period Shares Available for Grant, Balance Number of Options Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding Roll Forward Options Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding Number Options granted, Number of Options Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Gross Options forfeited / cancelled, Number of Options Share Based Compensation Arrangement By Share Based Payment Award Options Forfeitures In Period Options exercised, Number of Options Options Outstanding, Number of Options Vested, Number of Options Sharebased Compensation Arrangement By Sharebased Payment Award Options Vested Number Of Shares Exercisable, Number of Options Share Based Compensation Arrangement By Share Based Payment Award Options Exercisable Number Share-based compensation arrangement by share-based payment award options vested, weighted average exercise price. Weighted Average Exercise Price Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding Weighted Average Exercise Price Rollforward Options Outstanding, Weighted Average Exercise Price Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding Weighted Average Exercise Price Options granted, Weighted Average Exercise Price Share Based Compensation Arrangements By Share Based Payment Award Options Grants In Period Weighted Average Exercise Price Options forfeited / cancelled, Weighted Average Exercise Price Share Based Compensation Arrangements By Share Based Payment Award Options Forfeitures In Period Weighted Average Exercise Price Options exercised, Weighted Average Exercise Price Share Based Compensation Arrangements By Share Based Payment Award Options Exercises In Period Weighted Average Exercise Price Options Outstanding, Weighted Average Exercise Price Vested, Weighted Average Exercise Price Share Based Compensation Arrangement By Share Based Payment Award Options Vested Weighted Average Exercise Price Exercisable, Weighted Average Exercise Price Share Based Compensation Arrangement By Share Based Payment Award Options Exercisable Weighted Average Exercise Price Share-based compensation arrangement by share-based payment award options vested, weighted average remaining contractual term. Share based compensation arrangement by share based payment award options weighted-average remaining life. Weighted-Average Remaining Contractual Life Share Based Compensation Arrangement By Share Based Payment Award Options Weighted Average Remaining Life [Abstract] Options Outstanding, Weighted-Average Remaining Contractual Life Sharebased Compensation Arrangement By Sharebased Payment Award Options Outstanding Weighted Average Remaining Contractual Term2 Vested, Weighted-Average Remaining Contractual Life Share Based Compensation Arrangement By Share Based Payment Award Options Vested Weighted Average Remaining Contractual Term Exercisable, Weighted-Average Remaining Contractual Life Sharebased Compensation Arrangement By Sharebased Payment Award Options Exercisable Weighted Average Remaining Contractual Term1 Share based compensation arrangement by share based payment award options intrinsic value. Aggregate Intrinsic Value Share Based Compensation Arrangement By Share Based Payment Award Options Intrinsic Value [Abstract] Options Outstanding, Aggregate Intrinsic Value Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding Intrinsic Value Vested, Aggregate Intrinsic Value Sharebased Compensation Arrangement By Sharebased Payment Award Options Vested In Period Fair Value1 Exercisable, Aggregate Intrinsic Value Sharebased Compensation Arrangement By Sharebased Payment Award Options Exercisable Intrinsic Value1 Intrinsic value of options exercised Share Based Compensation Arrangement By Share Based Payment Award Options Exercises In Period Total Intrinsic Value Stock options granted at grant-date fair value Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Weighted Average Grant Date Fair Value Total compensation cost related to nonvested awards not yet recognized Employee Service Share Based Compensation Nonvested Awards Total Compensation Cost Not Yet Recognized Stock Options Weighted-average period over nonvested awards expected to be recognized Employee Service Share Based Compensation Nonvested Awards Total Compensation Cost Not Yet Recognized Period For Recognition1 Share-based compensation arrangement by share-based payment award, award vesting period, commencement date. Stock options granted Unrecognized compensation cost Employee Service Share Based Compensation Nonvested Awards Total Compensation Cost Not Yet Recognized Share Based Awards Other Than Options Vesting period Share Based Compensation Arrangement By Share Based Payment Award Award Vesting Period1 Vesting period commencing date Share Based Compensation Arrangement By Share Based Payment Award Award Vesting Period Commencement Date Risk-free interest rate, minimum Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Risk Free Interest Rate Minimum Risk-free interest rate, maximum Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Risk Free Interest Rate Maximum Expected life (in years) Sharebased Compensation Arrangement By Sharebased Payment Award Fair Value Assumptions Expected Term1 Dividend yield Expected volatility, minimum Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Expected Volatility Rate Minimum Expected volatility, maximum Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Expected Volatility Rate Maximum Risk-free interest rate Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Risk Free Interest Rate Expected volatility Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Expected Volatility Rate Income Statement Location Income Statement Location [Axis] Income Statement Location Income Statement Location [Domain] Research and Development Research And Development Expense [Member] General and Administrative General And Administrative Expense [Member] Total stock-based compensation Allocated Share Based Compensation Expense Income Tax Contingency [Table] Income Tax Contingency [Table] Income Tax Authority Income Tax Authority [Axis] Income Tax Authority Income Tax Authority [Domain] State State And Local Jurisdiction [Member] Federal Domestic Country [Member] New Jersey California CANADA Massachusetts MOROCCO Tax Credit Carryforward Tax Credit Carryforward [Axis] Tax Credit Carryforward, Name Tax Credit Carryforward Name [Domain] Research and Development Tax Credits Research [Member] Income Tax Contingency [Line Items] Income Tax Contingency [Line Items] Current state taxes Current State And Local Tax Expense Benefit Effective tax rate Effective Income Tax Rate Continuing Operations Income tax provision at statutory rate Effective Income Tax Rate Reconciliation At Federal Statutory Income Tax Rate State income taxes, net of federal benefit Effective Income Tax Rate Reconciliation State And Local Income Taxes Tax credits Effective Income Tax Rate Reconciliation Tax Credits Other Effective Income Tax Rate Reconciliation Other Adjustments Change in valuation allowance Effective Income Tax Rate Reconciliation Change In Deferred Tax Assets Valuation Allowance Effective income tax rate Federal statutory income tax rate Deferred tax assets: Deferred Tax Assets Net [Abstract] Net operating loss carryforwards Deferred Tax Assets Operating Loss Carryforwards Stock compensation Deferred Tax Assets Tax Deferred Expense Compensation And Benefits Share Based Compensation Cost Research and development credits Deferred Tax Assets Tax Credit Carryforwards Research Accruals and reserves Deferred Tax Assets Tax Deferred Expense Reserves And Accruals Total deferred tax assets Deferred Tax Assets Gross Valuation allowance Deferred Tax Assets Valuation Allowance Deferred tax assets recognized Deferred Tax Assets Net Deferred tax liabilities: Deferred Tax Liabilities Net [Abstract] Fixed assets and depreciation Deferred Tax Liabilities Property Plant And Equipment Total deferred tax liabilities Deferred Tax Liabilities Net deferred tax assets Deferred Tax Assets Liabilities Net Operating loss carryforwards expiration year. Tax credit carryforward, expiration year. Net operating loss carryforwards Operating Loss Carryforwards Operating loss carryforwards expiration year Operating Loss Carryforwards Expiration Year Credit carryforward, amount Tax Credit Carryforward Amount Tax credit carryforward, expiration Tax Credit Carryforward Expiration Year Interest or penalties accrued Unrecognized Tax Benefits Income Tax Penalties And Interest Accrued Unrecognized tax benefits Unrecognized Tax Benefits Unrecognized tax benefits, beginning of year Increases (decreases) related to prior year tax positions Unrecognized Tax Benefits Increases Resulting From Prior Period Tax Positions Increases (decreases) related to prior year tax positions Unrecognized Tax Benefits Decreases Resulting From Prior Period Tax Positions Increases related to current year tax positions Unrecognized Tax Benefits Increases Resulting From Current Period Tax Positions Unrecognized tax benefits, end of year Income tax examination period. Open tax year Open Tax Year Income tax examination period Income Tax Examination Period Schedule Of Antidilutive Securities Excluded From Computation Of Earnings Per Share [Table] Schedule Of Antidilutive Securities Excluded From Computation Of Earnings Per Share [Table] Antidilutive Securities Antidilutive Securities Excluded From Computation Of Earnings Per Share By Antidilutive Securities [Axis] Antidilutive Securities, Name Antidilutive Securities Name [Domain] Common Stock Options Issued and Outstanding Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] Antidilutive securities Antidilutive Securities Excluded From Computation Of Earnings Per Share Amount Weighted-average number of shares - basic and diluted Net loss per share - basic and diluted Number of consulting agreements members. Schedule Of Related Party Transactions By Related Party [Table] Schedule Of Related Party Transactions By Related Party [Table] Related Party Related Party Transactions By Related Party [Axis] Related Party Related Party [Domain] Board of directors. Board Of Directors Board Of Directors [Member] Investor Investor [Member] Related Party Transaction [Line Items] Related Party Transaction [Line Items] Number of consulting agreement members Number Of Consulting Agreements Members Consulting fees Related Party Transaction Expenses From Transactions With Related Party Amount owed to related party Due To Related Parties Current And Noncurrent