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Equity Incentive Plans - Summary of Estimated Grant Date Fair Value of Options Granted (Details) - $ / shares
6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Risk-free interest rate, minimum 0.50% 0.40%
Risk-free interest rate, maximum 1.10% 1.70%
Expected volatility, minimum 67.10% 70.50%
Expected volatility, maximum 68.70% 72.90%
Minimum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Fair value of common stock $ 34.41 $ 17.68
Expected term (in years) 5 years 3 months 7 days 5 years 3 months 7 days
Maximum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Fair value of common stock $ 66.50 $ 41.9
Expected term (in years) 6 years 29 days 6 years 29 days