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Net Loss Per Share - Schedule of Dilutive Shares Excluded from Calculation of Diluted Net Loss Per Share (Details) - shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Anti-dilutive shares 12,928,100 9,482,126 52,356,372
Convertible Preferred Stock      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Anti-dilutive shares     45,374,836
Restricted Common Stock      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Anti-dilutive shares 186,425 994,838 1,917,848
Options to Purchase Common Stock      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Anti-dilutive shares 12,654,998 8,442,824 5,063,688
Shares Committed Under ESPP      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Anti-dilutive shares 86,677 44,464