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Stockholders' Equity - Stock Incentive Plan - General Information (Details)	12 Months Ended
	Dec. 31, 2020 shares	Dec. 31, 2019 shares	Dec. 31, 2018 plan shares
Share-based Compensation Arrangement by Share-based Payment Award, Additional General Disclosures [Abstract]
Number of stock-based compensation plans | plan			2
Incentive stock options and non-statutory stock options, exercise price to fair value of common stock, maximum (as a percent)	100.00%	100.00%	100.00%
Shareholder stock options, exercise price to fair value of common stock, maximum (as a percent)	110.00%	110.00%	110.00%
Unvested shares subject to repurchase (in shares) | shares	0	0	0
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award, Additional General Disclosures [Abstract]
Vesting period	4 years	4 years	4 years
Term of award	10 years	10 years	10 years

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Share-based Compensation Arrangement by Share-based Payment Award, Number of Compensation Plans

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Share-based Compensation Arrangement by Share-based Payment Award, Options, Incentive and Non-statutory Stock Options, Exercise Price Percentage of Fair Value of Common Stock, Maximum

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Share-based Compensation Arrangement by Share-based Payment Award, Options, Ten Percent Ownership of Common Stock or Greater, Exercise Price Percentage of Fair Value of Common Stock, Maximum

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Share-based Compensation Arrangement by Share-based Payment Award, Unvested Shares Subject to Repurchase

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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