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Net Loss Per Share - Summary of Calculation of Diluted Shares Outstanding (Details) - shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Potentially dilutive shares not included in calculation of diluted shares outstanding 7,853,010 93,497,146 73,920,658
Redeemable Convertible Preferred Stock      
Potentially dilutive shares not included in calculation of diluted shares outstanding   83,568,628 66,825,300
Warrants      
Potentially dilutive shares not included in calculation of diluted shares outstanding   161,136 161,136
Stock Options      
Potentially dilutive shares not included in calculation of diluted shares outstanding 5,617,568 6,110,000 2,961,008
Restricted Stock Awards      
Potentially dilutive shares not included in calculation of diluted shares outstanding   3,249,382 3,873,214
Restricted Stock Units      
Potentially dilutive shares not included in calculation of diluted shares outstanding 2,235,442 408,000 100,000