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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended
Jan. 01, 2021
Jun. 11, 2020
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Vesting percentage for stock options granted   25.00%      
Vesting period for stock options granted   4 years      
Early exercised stock options     10,189   15,056
Options granted     66,982    
Exercise of stock options (in shares)     267,208 43,657  
Weighted-average price per share     $ 1.82 $ 1.94  
Weighted-average grant date fair value of options granted     $ 17.70 $ 2.58  
Intrinsic value of the stock options exercised     $ 6.4 $ 0.1  
2020 Equity Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Exercise price expire in years form the date of grant   5 years      
Stock options granted term   10 years      
Percentage of provisions subject to stockholders   10.00%      
Shares reserved for issuance   10,150,000      
Term of plan   10 years      
Percentage of outstanding number of shares   5.00%      
Available for issuance of shares increased 2,553,579        
Aggregate number of shares available for issuance     7,262,652    
Number of shares outstanding     401,000    
2014 Equity Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares outstanding     4,395,417    
2020 Employee Stock Purchase Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares reserved for issuance   650,000      
Term of plan   10 years      
Percentage of outstanding number of shares   1.00%      
Available for issuance of shares increased 510,715        
Aggregate number of shares available for issuance     1,133,250    
Percentage of payroll deductions of eligible compensation   15.00%      
Employees purchase shares of common stock of lower of fair market value   85.00%      
Offering period   2 years      
Purchase period   6 months      
Maximum | Other Liabilities          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Remaining liabilities related to early exercised shares     $ 0.1   $ 0.1
Maximum | 2020 Equity Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Percentage of fair value per share on the grant date   110.00%      
Minimum | 2020 Equity Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Incentive stock option granted to employees owning percentage of shares of common stock   10.00%