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Equity Incentive Plans - Summary of Activity Under Stock Option Plans (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, granted 62,382  
Weighted-Average Exercise Price Per Share, Options exercised $ 3.18 $ 1.82
2020 Plan and 2014 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Options Available for Grant, Beginning Balance 6,104,756  
Options Available for Grant, Additional shares authorized 2,651,598  
Options Available for Grant, granted (1,605,819)  
Options Available for Grant, forfeited 12,363  
Options Available for Grant, Ending Balance 7,162,898  
Number of Options, Beginning Balance 5,295,007  
Number of Options, granted 1,605,819  
Number of Options, exercised (91,044)  
Number of Options, forfeited (12,363)  
Number of Options, Ending Balance 6,797,419  
Number of Options, Vested and expected to vest 6,797,419  
Number of Options, Exercisable 2,828,303  
Weighted-Average Exercise Price Per Share, Beginning Balance $ 9.30  
Weighted-Average Exercise Price Per Share, Options granted 24.57  
Weighted-Average Exercise Price Per Share, Options exercised 3.18  
Weighted-Average Exercise Price Per Share, Options forfeited 22.16  
Weighted-Average Exercise Price Per Share, Ending Balance 12.96  
Weighted-Average Exercise Price Per Share, Vested and expected to vest 12.96  
Weighted-Average Exercise Price Per Share, Exercisable $ 5.35  
Weighted-Average Remaining Contractual Term (Years) 8 years 29 days  
Weighted-Average Remaining Contractual Term (Years), Vested and expected to vest 8 years 29 days  
Weighted-Average Remaining Contractual Term (Years), Exercisable 6 years 10 months 24 days  
Aggregate Intrinsic Value $ 78,759  
Aggregate Intrinsic Value, Vested and expected to vest 78,759  
Aggregate Intrinsic Value, Exercisable $ 53,676