Stockholders’ Equity and Stock Option Plans - Summary of Stock Option Activity and Related Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
Mar. 31, 2021	Mar. 31, 2020	Dec. 31, 2020
Number of Shares Underlying Outstanding Options
Beginning balance (in shares)	8,459,969
Options granted (in shares)	657,066
Options exercised (in shares)	(278,412)
Options canceled (in shares)	(6,343)
Options expired (in shares)	(160)
Ending balance (in shares)	8,832,120		8,459,969
Vested (in shares)	5,551,331
Weighted-Average Exercise Price
Beginning balance (in usd per share)	$ 2.53
Options granted (in usd per share)	36.65
Options exercised (in usd per share)	1.62
Options canceled (in usd per share)	4.29
Options expired (in usd per share)	0.26
Ending balance (in usd per share)	5.09		$ 2.53
Vested (in usd per share)	$ 2.33
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual term (years)	6 years 11 months 19 days		6 years 9 months 29 days
Weighted average remaining contractual term vested (in years)		5 years 9 months
Aggregate intrinsic value, awards outstanding	$ 390,601		$ 215,144
Aggregate intrinsic value, vested			$ 260,855

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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