Net Loss Per Share - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Numerator:
Net loss	$ (19,373)	$ (8,706)
Denominator:
Weighted average common shares outstanding	32,806,880	1,735,238
Less: weighted average unvested common stock issued upon early exercise of common stock options	(67,270)	(126,054)
Weighted average shares used to compute net loss per share, basic and diluted	32,739,610	1,609,184
Net loss per share, basic and diluted	$ (0.59)	$ (5.41)