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Equity Incentive Plans - RSU Activity for the Period (Details) - Restricted stock units
3 Months Ended
Mar. 31, 2021
$ / shares
shares
Restricted Stock Units  
Beginning balance (in shares) | shares 491,318
Granted (in shares) | shares 200,233
Vested (in shares) | shares (1,120)
Cancelled (in shares) | shares (947)
Ending balance (in shares) | shares 689,484
Weighted-Average Grant Date Fair Value  
Beginning balance (in usd per share) | $ / shares $ 7.91
Granted (in usd per share) | $ / shares 60.06
Vested (in usd per share) | $ / shares 34.35
Cancelled (in usd per share) | $ / shares 19.00
Ending balance (in usd per share) | $ / shares $ 23.05