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Stock Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Jan. 01, 2021
Mar. 31, 2018
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Aggregate proceeds from shares issued under the plan         $ 825 $ 938  
Stock-based compensation     $ 4,226 $ 3,346 12,582 9,682  
Total intrinsic value of options exercised         $ 600 $ 500  
Weighted-average grant date fair value per share for options granted         $ 7.50 $ 10.73  
Remaining shares subject to repurchase     296   296   3,091
2015 Stock Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Stock option vesting period         4 years    
Stock options expiration period         10 years    
Number of additional shares available for future grant     0   0    
2018 Incentive Award Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares available for issuance   3,186,205          
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock 4.00% 4.00%          
Maximum shares of common stock may be issued   20,887,347          
Number of additional shares added to the plan 2,010,623            
Number of shares outstanding available for future grant     2,358,420   2,358,420    
2018 Employee Stock Purchase Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares available for issuance   353,980          
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock 1.00% 1.00%          
Number of additional shares added to the plan 502,655            
Number of shares outstanding available for future grant     1,431,382   1,431,382    
Maximum shares allowed to be issued under ESPP   4,778,738          
Purchase of common stock through payroll deductions expressed in percentage of fair market value       85.00%      
Common stock offering period       6 months      
Number of shares issued to the plan         110,923 83,848  
Aggregate proceeds from shares issued under the plan         $ 800 $ 900  
Stock-based compensation     $ 100 $ 100 100 $ 100  
2015 and 2018 Stock Incentive Plans              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Unrecognized compensation expense     33,800   $ 33,800    
Unrecognized compensation expense estimated to be recognized over period         2 years 6 months    
Maximum | Accrued Expenses and Other Liabilities              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Liability for unvested common shares subject to repurchase included in accrued expenses and other liabilities     $ 100   $ 100   $ 100