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Stockholders' Equity - Summary of Stock Option Activity (Details) - Stock Options
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2021
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of Shares Subject to Options outstanding, Beginning Balance | shares 2,463,317
Number of Shares Subject to Options, Granted | shares 1,493,500
Number of Shares Subject to Options, Exercised | shares (1,458)
Number of Shares Subject to Options, Forfeitures and Cancellations | shares (8,542)
Number of Shares Subject to Options outstanding, Ending Balance | shares 3,946,817
Number of Shares Subject to Options, Exercisable | shares 1,210,431
Weighted- Average Exercise Price Per Share, Beginning Balance | $ / shares $ 3.71
Weighted- Average Exercise Price Per Share, Granted | $ / shares 5.14
Weighted- Average Exercise Price Per Share, Exercised | $ / shares 2.45
Weighted- Average Exercise Price Per Share, Forfeitures and Cancellations | $ / shares 3.96
Weighted- Average Exercise Price Per Share, Ending Balance | $ / shares 4.25
Weighted- Average Exercise Price Per Share, Exercisable | $ / shares $ 3.48
Weighted Average Remaining Contractual Term, Options Outstanding 8 years 6 months 3 days
Weighted Average Remaining Contractual Term, Options Exercisable 6 years 9 months 29 days
Aggregate Intrinsic Value, Options Outstanding | $ $ 11,473
Aggregate Intrinsic Value, Options Exercisable | $ $ 4,453