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Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity Under the 2015 Plan and 2020 Plan (Details) - 2015 Equity and 2020 Incentive Plan - Incentive Stock Options and Nonqualified Stock Options - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Outstanding, Beginning balance 1,337,501  
Number of Options, Granted 1,830,738  
Number of Options, Exercised (136,223)  
Number of Options, Forfeited (38,161)  
Number of Options, Outstanding, Ending balance 2,993,855 1,337,501
Number of Options, Exercisable 736,601  
Number of Options, Vested and expected to vest 2,993,855  
Weighted- Average Exercise Price per Share, Outstanding, Beginning balance $ 3.22  
Weighted- Average Exercise Price per Share, Granted 11.43  
Weighted- Average Exercise Price per Share, Exercised 3.25  
Weighted- Average Exercise Price per Share, Forfeited 8.13  
Weighted- Average Exercise Price per Share, Outstanding, Ending balance 8.18 $ 3.22
Weighted- Average Exercise Price per Share, Exercisable 4.19  
Weighted- Average Exercise Price per Share, Vested and expected to vest $ 8.18  
Weighted- Average Remaining Contractual Term (in Years), Outstanding 8 years 10 months 2 days 9 years 2 months 4 days
Weighted- Average Remaining Contractual Term (in Years), Exercisable 8 years 2 months 19 days  
Weighted- Average Remaining Contractual Term (in Years), Vested and expected to vest 8 years 10 months 2 days  
Aggregate Intrinsic Value, Outstanding balance $ 43,890 $ 5,157
Aggregate Intrinsic Value, Exercisable 13,664  
Aggregate Intrinsic Value, Vested and expected to vest $ 43,890