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Equity Incentive Plans - Summary of Estimated Grant Date Fair Value of Options Granted (Details) - $ / shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Fair value of common stock     $ 6.55
Risk-free interest rate, minimum 0.40% 1.40% 2.60%
Risk-free interest rate, maximum 1.70% 2.50% 3.00%
Expected volatility, minimum 70.50% 64.30% 65.00%
Expected volatility, maximum 73.30% 72.90% 69.20%
Minimum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Fair value of common stock $ 17.68 $ 7.80  
Expected term (in years) 5 years 3 months 7 days 5 years 3 months 7 days 6 years 29 days
Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Fair value of common stock $ 55.23 $ 47.81  
Expected term (in years) 6 years 29 days 6 years 29 days 10 years