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Share-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 3 Months Ended | 6 Months Ended |
--- | --- | --- | --- | ---
Jun. 30, 2020 | Jun. 30, 2021 | Mar. 31, 2021 | Jun. 30, 2020 | Mar. 31, 2020 | Jun. 30, 2021 | Jun. 30, 2020 | Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Common stock shares issued |  | 37,109,506 |  |  |  | 37,109,506 |  | 36,902,924
Number of options exercised |  |  |  |  |  | 203,283 | 266,687 |
Options, weighted-average exercise price |  |  |  |  |  | $ 3.11 | $ 1.83 |
Aggregate proceeds from exercise of options |  |  |  |  |  | $ 632 | $ 488 |
Decrease in additional paid-in capital as exercised options credited to common shares |  |  |  |  |  | 400 |  |
Unrecognized share-based compensation expense related to unvested stock options |  | $ 39,800 |  |  |  | $ 39,800 |  |
Unrecognized share-based compensation expense related to unvested stock options, weighted average period |  |  |  |  |  | 2 years 6 months |  |
Common Shares |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Number of options exercised |  | 115,497 | 87,786 | 85,369 | 181,318 |  |  |
2020 Employee Share Purchase Plan |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance |  | 696,029 |  |  |  | 696,029 |  |
Annual increases in number of shares available for issuance as percentage of outstanding shares common stock on final day of preceding calendar year | 1.00% |  |  |  |  |  |  |
Annual increases in number of shares available for issuance maximum number of common stock issued | 3,300,000 |  |  |  |  |  |  |
Purchase price of shares as percentage of fair market value of common stock on date of purchase | 85.00% |  |  |  |  |  |  |
Common stock shares issued | 0 | 0 |  | 0 |  | 0 | 0 |
Share-based compensation expense |  | $ 100 |  | $ 0 |  | $ 100 | $ 0 |
2020 Employee Share Purchase Plan | Maximum |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance | 327,000 |  |  | 327,000 |  |  | 327,000 |
Option Plan |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance | 298,605 |  |  | 298,605 |  |  | 298,605 |
Option Plan | Common Shares |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Number of shares authorized to be issued |  | 4,074,135 |  |  |  | 4,074,135 |  |
2020 Equity Incentive Plan |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance |  | 5,794,266 |  |  |  | 5,794,266 |  |
Annual increases in number of shares available for issuance as percentage of outstanding shares common stock on final day of preceding calendar year |  |  |  |  |  | 5.00% |  |
2020 Equity Incentive Plan | Maximum |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance | 3,807,448 |  |  | 3,807,448 |  |  | 3,807,448 |
Shares of common stock initially reserved for future issuance | 3,600,000 |  |  | 3,600,000 |  |  | 3,600,000 |

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