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Convertible Preferred Stock and Stockholders' Equity (Deficit) - Additional Information (Details)
$ / shares in Units, $ in Thousands
 1 Months Ended 2 Months Ended 12 Months Ended
Sep. 24, 2020
shares
Jul. 31, 2019
$ / shares
shares
Aug. 31, 2019
USD ($)
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
shares
Sep. 30, 2020
shares
Sep. 29, 2020
shares
Temporary Equity [Line Items]              
Convertible preferred stock authorized to sell         142,150,096    
Proceeds from issuance of convertible preferred stock, net of issuance costs | $         $ 54,782    
Shares outstanding         117,809,883 0 0
Preferred stock voting rights       The holders of Series C Preferred are entitled to elect one director of the Company; the holders of Series B Preferred are entitled to elect three directors of the Company; the holders of Series A-2 Preferred, are entitled to elect one director; the holders of common stock are entitled to elect one director; and holders of common stock and any other class or series of voting stock, exclusively and voting together as a single class on an as-converted basis, are entitled to elect one director. Holders of Series A Preferred are not entitled to a director of the Company.      
Common stock, voting rights       one      
Initial Public Offering              
Temporary Equity [Line Items]              
Convertible preferred stock converted into common stock 13,085,913            
Series C Convertible Preferred Stock              
Temporary Equity [Line Items]              
Convertible preferred stock authorized to sell   61,773,000     61,773,000    
Convertible preferred stock, price per share | $ / shares   $ 1.4693          
Convertible preferred stock, shares issued     37,432,787        
Proceeds from issuance of convertible preferred stock, net of issuance costs | $     $ 55,000        
Convertible preferred stock, price per share | $ / shares   $ 1.4693          
Shares outstanding         37,432,787    
Dividends rights, amount per share on each outstanding share payable | $ / shares       $ 0.117544      
Convertible preferred stock, price per share | $ / shares       $ 1.4693      
Preferred stock voting rights       one      
Series C Convertible Preferred Stock | Current Liability              
Temporary Equity [Line Items]              
Fair value of preferred stock tranche obligation | $         $ 2,200    
Series B Preferred              
Temporary Equity [Line Items]              
Convertible preferred stock authorized to sell         76,078,535    
Shares outstanding         76,078,535    
Dividends rights, amount per share on each outstanding share payable | $ / shares       $ 0.06937      
Convertible preferred stock, price per share | $ / shares       $ 0.991      
Preferred stock voting rights       three      
Series A-2              
Temporary Equity [Line Items]              
Convertible preferred stock authorized to sell         2,018,561    
Shares outstanding         2,018,561    
Dividends rights, amount per share on each outstanding share payable | $ / shares       $ 0.06034      
Convertible preferred stock, price per share | $ / shares       $ 0.862      
Preferred stock voting rights       one      
Series A              
Temporary Equity [Line Items]              
Convertible preferred stock authorized to sell         2,280,000    
Shares outstanding         2,280,000    
Dividends rights, amount per share on each outstanding share payable | $ / shares       $ 0.08      
Preferred stock, convertible, conversion price       8.8527      
Convertible preferred stock, price per share | $ / shares       $ 1.00      
Series C Preferred, Series B Preferred and Series A-2 Preferred              
Temporary Equity [Line Items]              
Preferred stock, convertible, conversion price       9.0058      
Series A-2 Preferred, Series B Preferred and Series C Preferred              
Temporary Equity [Line Items]              
Preferred stock voting rights       Shares of Series A-2 Preferred, Series B Preferred and Series C Preferred do not have voting rights.      
Maximum | Series C Convertible Preferred Stock              
Temporary Equity [Line Items]              
Convertible preferred stock option to purchase additional shares   17,014,902   17,014,902      
Convertible preferred stock option to purchase additional shares after notified, period   30 days          
Minimum              
Temporary Equity [Line Items]              
Convertible preferred stock, price per share | $ / shares       $ 14.56      
Proceeds from issuance of convertible preferred stock, net of issuance costs | $       $ 40,000