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Stock-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]      
Number of shares, Outstanding at beginning of period 3,505,119 907,315  
Number of shares, Granted 1,083,274 2,761,034  
Number of shares, Exercised (416,157)    
Number of shares, Forfeited (40,113) (163,230)  
Number of shares, Outstanding at end of period 4,132,123 3,505,119 907,315
Number of shares, Options Exercisable 1,217,497 611,927  
Number of shares, Options Unvested 2,914,626 2,893,192  
Weighted average exercise price, Outstanding at beginning of period $ 2.07 $ 1.66  
Weighted average exercise price, Granted 18.57 2.21  
Weighted average exercise price, Exercised 1.92    
Weighted average exercise price, Forfeited 3.91 2.06  
Weighted average exercise price, Outstanding at end of period 6.39 2.07 $ 1.66
Weighted average exercise price, Options exercisable 1.96 1.69  
Weighted average exercise price, Options Unvested $ 8.25 $ 2.15  
Weighted average remaining contractual term (in years) , Outstanding 8 years 7 months 20 days 8 years 11 months 23 days 8 years 6 months 18 days
Weighted average remaining contractual term (in years), Options Exercisable 7 years 10 months 13 days 6 years 9 months  
Weighted average remaining contractual term (in years), Options Unvested 8 years 11 months 15 days 9 years 5 months 12 days  
Intrinsic value, Outstanding at end of period $ 115,328    
Intrinsic value, Options exercisable 39,374    
Intrinsic value, Options unvested $ 75,926