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Equity Incentive Plans and Stock-Based Compensation - Incentive Stock Options and Nonqualified Stock Options Narrative (Details) - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2021
Incentive Stock Options and Nonqualified Stock Options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Grant date fair value of stock option (USD per share)   $ 17.84
2015 Equity and 2020 Incentive Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Vesting period   4 years
Expiration period from date of grant   10 years
2015 Equity and 2020 Incentive Plan | Incentive Stock Options and Nonqualified Stock Options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Options granted (in shares)   1,283,741
2020 Stock Options And Incentive Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expiration period from date of grant   5 years
2020 Stock Options And Incentive Plan | Incentive Stock Options and Nonqualified Stock Options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Options granted (in shares) 201,688