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Equity Incentive Plans and Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
May 31, 2020
Dec. 31, 2020
Dec. 31, 2019
Mar. 31, 2020
Jan. 31, 2019
Jul. 31, 2018
Aug. 31, 2015
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Total shares reserved for future issuance   7,338,314 20,346,844        
Number of shares, not purchased   4,195          
Weighted-average grant date fair value, not purchased   $ 0.08          
2015 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Total shares reserved for future issuance   0 567,110 1,400,000 400,000 1,000,000  
Exercise price as a percentage of estimated grant date fair value of shares   10.00%          
Expiration period from date of grant   5 years          
Two Thousand And Twenty Stock Options And Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Total shares reserved for future issuance   3,600,000          
Common stock shares outstanding percentage 5.00%            
Exercise price as a percentage of estimated grant date fair value of shares   10.00%          
Expiration period from date of grant   5 years          
Restricted Common Stock Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting rights   The repurchase price for unvested shares of common stock will be the lower of (i) the fair market value on the date of repurchase or (ii) their original purchase price.          
Number of shares granted   0 0        
Restricted Common Stock Awards | Accrued Expenses and Other Liabilities              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Accrued expenses and other liabilities   $ 10,000 $ 22,000        
Restricted Stock Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Aggregate fair value of restricted stock awards vested   200 400        
Total intrinsic value of outstanding unvested restricted stock awards   $ 2,900 $ 2,100        
2015 Equity and 2020 Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Expiration period from date of grant   10 years          
Vesting period   4 years          
Maximum | 2015 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Options under plan could be granted for periods   10 years          
Percentage of estimated fair value of shares on date of grant   100.00%          
Exercise price as a percentage of estimated grant date fair value of shares   110.00%          
Maximum | Two Thousand And Twenty Stock Options And Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Exercise price as a percentage of estimated grant date fair value of shares   110.00%          
Options under plan may be granted for periods   10 years          
Maximum | Restricted Common Stock Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting period   4 years          
Minimum | Restricted Common Stock Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting period   1 year          
Common Stock | Maximum | 2015 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Shares authorized for future grant             1,500,000
Common Stock | Maximum | Two Thousand And Twenty Stock Options And Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Shares authorized for future grant 4,200,000