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Share-Based Compensation - Additional Information (Details) - USD ($)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of outstanding stock options granted 2,908,000   2,321,000
Intrinsic value $ 37,655,000   $ 42,580,000
Number of stock options granted 858,000    
Weighted average exercise price, granted $ 20.55    
Weighted average remaining contractual life, granted 9 years 10 months 24 days    
Proceeds from exercise of stock options $ 475,000 $ 11,000  
Exercise of stock options, shares 209,000    
Stock compensation expense $ 1,752,000    
Employee Stock Purchase Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of shares reserved for issuance 338,106    
Shares issued 0    
Restricted Stock Units (RSUs)      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Restricted stock units outstanding 79,104    
Weighted average grant date fair value $ 6.83    
Options and Restricted Stock Units (RSUs)      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Remaining unrecognized stock based compensation expense for options and RSUs $ 8,100,000    
Amortized to expense period 4 years 9 months 18 days    
Bonus-To-Options Program      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of outstanding stock options granted 424,145    
Weighted average exercise price,vested $ 17.33    
Intrinsic value $ 1,300,000    
Number of stock options granted 265,615    
Weighted average exercise price, granted $ 20.67    
Weighted average remaining contractual life, granted 9 years 10 months 24 days    
Proceeds from exercise of stock options $ 65,440    
Exercise of stock options, shares 14,699    
Stock compensation expense $ 500,000    
2020 Equity Incentive Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Common stock remained available for future issuance 1,112,052