Stockholders' Equity - Schedule of Common Stock Reserved for Issuance (Details) - shares	Mar. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Common stock reserved for issuance	9,570,594	8,343,673
Stock Options
Class Of Stock [Line Items]
Common stock reserved for issuance	6,263,306	5,071,740
Reserved for Future Stock Awards or Option Grants
Class Of Stock [Line Items]
Common stock reserved for issuance	2,079,402	2,009,410
Reserved for Employee Stock Purchase Plan
Class Of Stock [Line Items]
Common stock reserved for issuance	1,000,349	700,023
Reserved for PSUs
Class Of Stock [Line Items]
Common stock reserved for issuance	227,537
Reserved for Underwriter Option Shares
Class Of Stock [Line Items]
Common stock reserved for issuance		562,500