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Equity Incentive Plans and Stock-Based Compensation - Summary of Fair Value of Stock Options Estimated Using Black-Scholes Merton Option Pricing Model Assumptions (Details)
3 Months Ended
Mar. 31, 2021
$ / shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Risk-free interest rate, minimum 0.60%
Risk-free interest rate, maximum 0.90%
Expected volatility, minimum 88.38%
Expected volatility, maximum 88.43%
Expected term (in years) 6 years 29 days
Minimum  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Stock price $ 29.83
Maximum  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Stock price $ 35.67