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Stock Option and Grant Plan - Summary of Option Activity Under Equity Award Plans (Details) - $ / shares
6 Months Ended
Jun. 30, 2021
Number of options  
Outstanding at December 31, 2020 5,336,441
Granted 1,236,543
Exercised (605,509)
Forfeitures (32,731)
Outstanding at June 30, 2021 5,934,744
Exercisable as of June 30, 2021 1,733,868
Weighted average exercise price  
Outstanding at December 31, 2020 $ 9.70
Granted 86.38
Exercised 9.65
Forfeitures 28.84
Outstanding at June 30, 2021 25.58
Exercisable as of June 30, 2021 $ 7.48