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Stockholders' Equity (Deficit) (Tables)
 3 Months Ended
Mar. 31, 2021
Stockholders' Equity Note [Abstract]  
Summary of Common Shares Reserved for Future Issuance 
The Company has reserved shares of common stock for the following potential future issuances:
 
                                         
    
March 31,
     
December 31,
  
    
2021
     
2020
  
Shares underlying outstanding equity awards
      6,308,582        6,316,569  
Shares available for future equity award grants
      3,152,910        1,506,806  
Shares underlying early exercised equity awards
      76,293        100,263  
Shares underlying ESPP withholdings
      19,126        4,393  
Total
      9,556,911        7,928,031