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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 ($)
3 Months Ended 12 Months Ended
Mar. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Number of Options, Outstanding, Beginning balance (in shares) 2,993,855  
Options granted (in shares) 1,082,053  
Number of Options, Exercised (in shares) (105,734)  
Number of Options, Forfeited (in shares) (41,887)  
Number of Options, Outstanding, Ending balance (in shares) 3,928,287 2,993,855
Number of Options, Exercisable (in shares) 856,283  
Number of Options, Vested and expected to vest (in shares) 3,928,287  
Share-Based Compensation Arrangement By Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]    
Weighted- Average Exercise Price per Share, Outstanding, Beginning balance (USD per share) $ 8.18  
Weighted- Average Exercise Price per Share, Granted (USD per share) 27.11  
Weighted- Average Exercise Price per Share, Exercised (USD per share) 5.28  
Weighted- Average Exercise Price per Share, Forfeited (USD per share) 7.59  
Weighted- Average Exercise Price per Share, Outstanding, Ending balance (USD per share) 13.30 $ 8.18
Weighted- Average Exercise Price per Share, Exercisable (USD per share) 5.24  
Weighted- Average Exercise Price per Share, Vested and expected to vest (USD per share) $ 13.30  
Weighted- Average Remaining Contractual Term (in Years), Outstanding 8 years 11 months 19 days 8 years 10 months 2 days
Weighted- Average Remaining Contractual Term (in Years), Exercisable 8 years 3 months 21 days  
Weighted- Average Remaining Contractual Term (in Years), Vested and expected to vest 8 years 11 months 19 days  
Aggregate Intrinsic Value, Outstanding balance $ 100,437 $ 43,890
Aggregate Intrinsic Value, Exercisable 29,194  
Aggregate Intrinsic Value, Vested and expected to vest $ 100,437