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Stock-based Compensation - Additional Information (Details)
$ in Millions
3 Months Ended 24 Months Ended
Jan. 01, 2021
shares
Jul. 02, 2020
shares
Mar. 31, 2021
USD ($)
shares
Mar. 31, 2020
USD ($)
Dec. 31, 2017
employee
Dec. 31, 2018
USD ($)
Jul. 31, 2015
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock-based compensation expense | $     $ 6.1 $ 2.2      
2020 Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock reserved for issuance (shares)   5,503,678          
Common stock reserved for issuance, annual increase, percentage of outstanding shares 5.00% 5.00%          
Maximum shares that may be issued upon exercise of incentive stock options (shares)   3,650,000          
Additional shares authorized (shares) 2,838,412            
Common stock available for grant (shares)     7,250,596        
2020 ESPP              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock reserved for issuance (shares)   1,000,000          
Common stock reserved for issuance, annual increase, percentage of outstanding shares 1.00% 1.00%          
Additional shares authorized (shares) 567,682            
Common stock available for grant (shares)     0        
2015 Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock reserved for issuance (shares)             7,312,590
Common stock available for grant (shares)     0        
Stock options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock-based compensation expense | $     $ 5.5 2.2      
Unrecognized expense, stock options | $     $ 68.7        
Unrecognized expense, period for recognition     1 year 8 months 12 days        
Stock options | Executives              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Subscriptions receivable, number of executive employees | employee         2    
Subscriptions receivable | $           $ 1.5  
Subscriptions receivable, weighted average interest rate         1.90%    
Stock options | 2015 Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting period     4 years        
Expiration period     10 years        
RSUs              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock-based compensation expense | $     $ 0.6 $ 0.0      
Unrecognized expense, RSUs | $     $ 7.4        
Unrecognized expense, period for recognition     1 year 6 months