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Equity Incentive Plans and Stock-Based Compensation - 2020 Employee Stock Purchase Plan Narrative (Details) - USD ($)
1 Months Ended 3 Months Ended
Jun. 30, 2020
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total shares reserved for future issuance (in shares)   8,908,566   7,338,314
Total stock-based compensation expense   $ 2,578,000 $ 425,000  
2020 Employee Stock Purchase Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total shares reserved for future issuance (in shares)       700,000
Common stock shares outstanding percentage 1.00%      
Percentage of payroll deductions   15.00%    
Employee stock purchase plan offering period   6 months    
Common stock fair market value percentage   85.00%    
Total stock-based compensation expense   $ 300,000 $ 0  
Number of common stock issued (in shares)   59,766