Stock Incentive Plans - Schedule of Stock Options Valuation Assumptions Using a Black-Scholes Option Pricing Model (Details) - $ / shares	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility, minimum	64.60%	64.80%	64.60%	63.20%
Expected volatility, maximum	66.90%	65.40%	67.10%	65.40%
Weighted-average risk-free interest rate, minimum	0.90%	0.33%	0.50%	0.33%
Weighted-average risk-free interest rate, maximum	1.20%	0.54%	1.20%	1.73%
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	6 years 3 months	6 years 3 months	6 years 3 months	6 years 3 months
Underlying common stock fair value	$ 9.62	$ 18.04	$ 13.91	$ 21.75
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	5 years 6 months	5 years 6 months	5 years 6 months	5 years 6 months
Underlying common stock fair value	$ 6.53	$ 12.66	$ 6.53	$ 12.66