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Stock-Based Compensation - Summary of Fair Value of Employee and Non-Employee Stock Options was Estimated Using Assumptions (Details)
3 Months Ended
Mar. 31, 2021
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]  
Risk-free interest rate, minimum 0.60%
Risk-free interest rate, maximum 1.10%
Expected term (years) 6 years
Expected volatility, minimum 72.00%
Expected volatility, maximum 73.00%
Dividends 0.00%