Stock-based Compensation - Summary of 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]
Shares, Beginning Balance	1,974,870
Shares, Granted	597,892
Shares, Exercised	(62,951)
Shares, Ending Balance	2,509,811	1,974,870
Shares, Expected to vest	1,840,595
Shares, Options exercisable	669,216
Weighted-Average Exercise price per Share, Beginning Balance	$ 9.31
Weighted-Average Exercise price per Share, Granted	21.07
Weighted-Average Exercise price per Share, Exercised	1.11
Weighted-Average Exercise price per Share, Ending Balance	12.32	$ 9.31
Weighted-Average Exercise price per Share, Expected to vest	16.26
Weighted-Average Exercise price per Share, Options exercisable	$ 1.46
Weighted-Average Remaining Contractual Term (in years)	8 years 3 months 7 days	7 years 11 months 23 days
Weighted-Average Remaining Contractual Term, Expected to vest (in years)	9 years 4 months 20 days
Weighted-Average Remaining Contractual Term, Options exercisable (in years)	5 years 2 months 8 days
Aggregate Intrinsic Value, Beginning Balance	$ 17,291	$ 49,275
Aggregate Intrinsic Value, Expected to vest	5,933
Aggregate Intrinsic Value, Options exercisable	$ 11,359