Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Options outstanding, Beginning Balance	3,996,174
Options, Granted	1,105,667
Options, Exercised	(18,411)
Options, Forfeited and cancelled	(16,200)
Options outstanding, Ending Balance	5,067,230	3,996,174
Options, Exercisable	1,419,764
Weighted Average Exercise Price, Options outstanding Beginning Balance	$ 9.03
Weighted Average Exercise Price, Granted	29.90
Weighted Average Exercise Price, Exercised	0.80
Weighted Average Exercise Price, Forfeited and Cancelled	19.06
Weighted Average Exercise Price, Options outstanding Ending Balance	13.58	$ 9.03
Weighted Average Exercise Price, Exercisable	$ 3.51
Weighted Average Remaining Contractual Term (in years), Options outstanding	8 years 7 months 6 days	8 years 6 months
Weighted Average Remaining Contractual Term (in years), Exercisable	7 years 7 months 6 days
Aggregate Intrinsic Value, Options outstanding	$ 62,225	$ 99,107
Aggregate Intrinsic Value, Exercisable	$ 29,883