Stock-Based Compensation - Summary of Stock Option Activity (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]
Number of Units Outstanding, Beginning Balance	7,737,095
Number of Units, Granted	433,360
Number of Units, Exercised	(85,895)
Number of Units, Forfeited/Expired	(45,138)
Number of Units Outstanding, Ending Balance	8,039,422	7,737,095
Number of Units, Exercisable	1,179,385
Number of Units, Nonvested	6,860,037
Number of Units Outstanding, Weighted Average Strike Price per Unit, Beginning Balance	$ 4.22
Number of Units, Granted, Weighted Average Strike Price per Unit	15.48
Number of Units, Exercised, Weighted Average Strike Price per Unit	1.50
Number of Units, Forfeited/Expired, Weighted Average Strike Price per Unit	3.62
Number of Units Outstanding, Weighted Average Strike Price per Unit, Ending Balance	4.86	$ 4.22
Number of Units, Exercisable, Weighted Average Strike Price per Unit	1.83
Number of Units, Nonvested, Weighted Average Strike Price per Unit	$ 5.38
Number of Units Outstanding, Weighted Average Remaining Contractual Term (in years)	9 years 1 month 6 days	9 years 3 months 18 days
Number of Units, Exercisable, Weighted Average Remaining Contractual Term (in years)	8 years 1 month 6 days
Number of Units, Nonvested, Weighted Average Remaining Contractual Term (in years)	9 years 3 months 18 days
Number of Units Outstanding, Aggregate Intrinsic Value	$ 65,470	$ 16,374
Number of Units, Exercisable, Aggregate Intrinsic Value	12,998
Number of Units, Nonvested, Aggregate Intrinsic Value	$ 52,472