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Equity Incentive Plans - Narrative (Details) - USD ($)
$ in Millions
6 Months Ended
Jan. 01, 2021
Jan. 01, 2018
Jun. 30, 2021
ESPP      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Weighted average period remaining for amortization of unrecognized compensation cost (in years)     4 months 17 days
Unrecognized compensation cost     $ 0.2
Options to purchase common stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award vesting period (in years)     4 years
Award expiration period (in years)     10 years
Unrecognized compensation cost     $ 36.8
Weighted average period remaining for amortization of unrecognized compensation cost (in years)     2 years 8 months 15 days
Options to purchase common stock | Director Stock options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award vesting period (in years)     1 year
Award expiration period (in years)     10 years
2017 Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Annual increase in number of shares available for issuance   4.00%  
Capital shares reserved for future issuance, increase (in shares) 1,094,223    
ESPP | ESPP      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Annual increase in number of shares available for issuance   1.00%  
Capital shares reserved for future issuance, increase (in shares) 273,555