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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 6 Months Ended
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
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   8,748,133   7,338,314
Total stock-based compensation expense   $ 2,280,000 $ 786,000 $ 4,858,000 $ 1,211,000  
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   700,000   700,000  
Percentage of common stock shares outstanding 1.00%          
Percentage of payroll deductions   15.00%   15.00%    
Employee stock purchase plan offering period       6 months    
Percentage of common stock fair market value       85.00%    
Total stock-based compensation expense   $ 100,000 $ 0 $ 400,000 $ 0  
Number of common stock issued (in shares)       59,766