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Consolidated Statements of Convertible Preferred Stock and Stockholders' Deficit - USD ($) $ in Thousands | Total | Convertible Preferred Stock [Member] | Common Stock [Member] | Additional Paid-in Capital [Member] | Accumulated Other Comprehensive Income [Member] | Accumulated Deficit [Member]
--- | --- | --- | --- | --- | --- | ---
Beginning balance at Dec. 31, 2018 | $ (110,927) | $ 532,120 | $ 3 | $ 3,247 |  | $ (114,177)
Beginning balance, shares at Dec. 31, 2018 |  | 210,863,764 | 2,998,017 |  |  |
Issuance of Series C convertible preferred stock, net of issuance costs of $50 |  | $ 5,661 |  |  |  |
Issuance of Series C convertible preferred stock, net of issuance costs of $50, shares |  | 1,779,093 |  |  |  |
Issuance of common stock upon exercise of stock options | 613 |  |  | 613 |  |
Issuance of common stock upon exercise of stock options, shares |  |  | 178,969 |  |  |
Vesting of restricted common stock | 400 |  | $ 1 | 399 |  |
Vesting of restricted common stock ,shares |  |  | 860,490 |  |  |
Stock-based compensation expense | 4,456 |  |  | 4,456 |  |
Unrealized gain (loss) on investments | 325 |  |  |  | $ 325 |
Net loss | (75,305) |  |  |  |  | (75,305)
Ending balance at Dec. 31, 2019 | (180,438) | $ 537,781 | $ 4 | 8,715 | 325 | (189,482)
Ending balance, shares at Dec. 31, 2019 |  | 212,642,857 | 4,037,476 |  |  |
Extinguishment upon modification of Series C preferred stock | (177,789) | $ 177,789 |  | (15,455) |  | (162,334)
Conversion of convertible preferred stock into common stock upon initial public offering | 715,570 | $ (715,570) | $ 62 | 715,508 |  |
Conversion of convertible preferred stock into common stock upon initial public offering, shares |  | (212,642,857) | 61,992,534 |  |  |
Issuance of common stock in public offering, net of discounts and issuance costs of $34,707 | 425,293 |  | $ 23 | 425,270 |  |
Issuance of common stock in public offering, net of discounts and issuance costs of $34,707, shares |  |  | 23,000,000 |  |  |
Issuance of common stock upon exercise of stock options | $ 1,216 |  |  | 1,216 |  |
Issuance of common stock upon exercise of stock options, shares | 297,000 |  | 297,000 |  |  |
Vesting of restricted common stock | $ 154 |  | $ 1 | 153 |  |
Vesting of restricted common stock ,shares |  |  | 579,825 |  |  |
Stock-based compensation expense | 31,960 |  |  | 31,960 |  |
Unrealized gain (loss) on investments | (261) |  |  |  | (261) |
Net loss | (52,412) |  |  |  |  | (52,412)
Ending balance at Dec. 31, 2020 | $ 763,293 |  | $ 90 | $ 1,167,367 | $ 64 | $ (404,228)
Ending balance, shares at Dec. 31, 2020 |  |  | 89,906,835 |  |  |

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