Equity Incentive Plans and Stock-Based Compensation - Summary of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details) - Incentive Stock Options and Nonqualified Stock Options - $ / shares	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility, minimum	74.95%	72.10%
Expected volatility, maximum	76.31%	77.50%
Risk-free interest rate, minimum	0.61%	0.52%
Risk-free interest rate, maximum	1.07%	0.82%
Expected dividend	0.00%	0.00%
Underlying common stock fair value (USD per share)		$ 6.22
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term	5 years 5 months 8 days	5 years 4 months 17 days
Underlying common stock fair value (USD per share)	$ 26.13
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term	6 years 29 days	6 years 9 months
Underlying common stock fair value (USD per share)	$ 38.23