Stock-Based Compensation Expense - Summary of Stock Option Activity Under Plans (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Shares, Outstanding December 31, 2020	1,428,886
Shares, Granted	365,700
Shares, Exercised	(30,391)
Shares, Cancelled	(1,590)
Shares, Outstanding at March 31, 2021	1,762,605	1,428,886
Shares, Exercisable at March 2021	665,936
Shares, Vested and expected to vest at March 31, 2021	1,762,605
Weighted Average Exercise Price, Outstanding December 31, 2020	$ 10.41
Weighted Average Exercise Price, Granted	10.75
Weighted Average Exercise Price, Exercised	8.63
Weighted Average Exercise Price, Cancelled	11.70
Weighted Average Exercise Price, Outstanding at March 31,2021	10.51	$ 10.41
Weighted Average Exercise Price, Exercisable at March 31, 2021	9.39
Weighted Average Exercise Price, Vested and expected to vest at March 31, 2021	$ 10.51
Outstanding, Weighted Average Remaining Contractual Life (in years)	8 years 1 month 6 days	7 years 8 months 12 days
Exercisable, Weighted Average Remaining Contractual Life (in years)	6 years 3 months 19 days
Vested and expected to vest, Weighted Average Remaining Contractual Life (in years)	8 years 1 month 6 days
Aggregate Intrinsic Value, Outstanding December 31, 2020	$ 5,540	$ 5,165
Aggregate Intrinsic Value, Exercisable at March 31, 2021	3,349
Aggregate Intrinsic Value, Vested and expected to vest at March 31, 2021	$ 5,540