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Common Stock and Stock-Based Compensation - Schedule of Common Stock Shares Reserved for Issuance (Details) - shares
Mar. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total shares reserved 5,112,211 18,563,456
Conversion of Outstanding Shares of Convertible Preferred Stock    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total shares reserved   16,079,230
Options Outstanding Under Incentive Award Plans    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total shares reserved 2,544,778 2,466,670
Shares Available for Future Grant under Incentive Award Plans    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total shares reserved 2,327,433 17,556
Shares Available for Future Grant under Employee Stock Purchase Plans    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total shares reserved 240,000