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Common Stock and Common Stock Warrants (Tables)
 3 Months Ended
Mar. 31, 2021
Equity [Abstract]  
Schedule of shares and warrants reserved for issuance
The Company had reserved shares of common stock for issuance, on an as-converted basis, as follows:
December 31,March 31,
20202021
Options issued and outstanding19,600,223 19,590,771 
RSUs outstanding— 827,192 
Shares available for future issuance under 2020 plan2,537,181 10,389,402 
Shares available for issuance under ESPP— 2,113,140 
Warrants to purchase common stock75,000 — 
Total22,212,404 32,920,505