Share-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
Mar. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock available for issuance	7,133,714
Weighted average grant date fair value of stock option	$ 36.29
Other long-term liabilities	$ 75	$ 82
Unrecognized compensation cost	$ 44,600
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period	3 years 6 months
Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares subject to repurchase	62,424	77,393
Other long-term liabilities	$ 100	$ 100
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued	0
Number of common stock available for issuance	622,652
Maximum percentage of employee compensation eligible for plan	15.00%
Offering period	6 months
Commons stock purchase price as percentage of fair value	85.00%
2015 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued	2,061,754
2020 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock authorized for issuance	4,295,638
Increase in share limit as percentage of outstanding shares of common stock on last trading day in prior year	5.00%
Number of awards granted	715,770
Number of common stock available for issuance	2,325,631

Increase in share limit as percentage of outstanding shares of common stock on last trading day in prior year.

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- Definition

Share based compensation arrangement by share based payment award offering period.

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Aggregate number of common shares reserved for future issuance.

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
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- Definition

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of liabilities classified as other, due after one year or the normal operating cycle, if longer.

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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- Definition

The highest percentage of annual salary that an employee is permitted to utilize with respect to the plan.

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- Definition

Number of shares authorized for issuance under share-based payment arrangement.

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- Definition

The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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- Definition

The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Number of shares issued under share-based payment arrangement.

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Purchase price of common stock expressed as a percentage of its fair value.

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- Definition

The number of shares authorized to be repurchased by an entity's Board of Directors under a stock repurchase plan.

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