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Stock-based Compensation - Additional Information (Details) - USD ($)
$ in Thousands
6 Months Ended
Mar. 03, 2020
Jun. 30, 2021
Jun. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Payments for repurchase of common stock $ 100   $ 124
Payments for relinquishment of right to purchase common stock upon exercise of stock options $ 700    
Unrecognized compensation costs   $ 72,900  
Expected to be recognized over a weighted average period   3 years 3 months 18 days  
2015 Incentive Stock Option and Grant Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock-based compensation, common stock shares reserved for issuance   9,997,150  
2020 Stock Option and Incentive Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock-based compensation, common stock shares reserved for issuance   9,997,150  
Stock-based compensation, common stock shares available for issuance   3,846,584