Equity Incentive Plans and Stock-Based Compensation - Equity Incentive Plan Narrative (Details) - shares	1 Months Ended					6 Months Ended
	May 31, 2020	Mar. 31, 2020	Jan. 31, 2019	Jul. 31, 2018	Aug. 31, 2015	Jun. 30, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total shares reserved for future issuance (in shares)						8,748,133	7,338,314
2015 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Additional shares authorized for future grant (in shares)		1,400,000	400,000	1,000,000.0
Exercise price as a percentage of estimated grant date fair value of shares					10.00%
Expiration period from date of grant					5 years
2020 Stock Options And Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of common stock shares outstanding	5.00%
Total shares reserved for future issuance (in shares)						4,300,000
Exercise price as a percentage of estimated grant date fair value of shares						10.00%
Expiration period from date of grant						5 years
Maximum | 2015 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares authorized for future grant (up to) (in shares)					1,500,000
Options under plan may be granted for periods (up to)					10 years
Percent of estimated fair value of shares					100.00%
Exercise price as a percentage of estimated grant date fair value of shares					110.00%
Maximum | 2020 Stock Options And Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares authorized for future grant (up to) (in shares)	4,200,000
Options under plan may be granted for periods (up to)						10 years
Exercise price as a percentage of estimated grant date fair value of shares						110.00%