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Stock-Based Compensation - Schedule of Assumptions Used to Estimate Fair Value of Stock Option Awards Granted (Details) - Stock Options - $ / shares
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Exercise price, minimum $ 18.41 $ 10.40
Exercise price, maximum $ 21.22 $ 24.52
Expected term (in years) 6 years 29 days  
Expected volatility, minimum 93.24% 77.07%
Expected volatility, maximum 94.06% 88.11%
Risk-free interest rate, minimum 0.62% 0.51%
Risk-free interest rate, maximum 1.00% 1.73%
Expected dividend yield 0.00% 0.00%
Minimum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term (in years)   5 years 6 months
Maximum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term (in years)   6 years 29 days