Convertible Preferred Stock and Stockholders Equity - Schedule Of Preferred Stock (Details) - USD ($) $ / shares in Units, $ in Thousands	Dec. 31, 2020	Dec. 31, 2019	Dec. 17, 2019	Dec. 31, 2018
Class of Stock [Line Items]
Preferred Stock, shares authorized (in shares)			10,000,000
Series A convertible preferred stock
Class of Stock [Line Items]
Preferred Stock, shares authorized (in shares)				2,690,403
Preferred stock, shares issued (in shares)				2,690,403
Preferred stock, shares outstanding (in shares)				2,690,403
Preferred Stock, Value, Issued				$ 448
Preferred Stock, Liquidation Preference, Value				$ 448
Issuance Price Per Share (in dollars per share)				$ 0.1667
Series A-1 convertible preferred stock
Class of Stock [Line Items]
Preferred Stock, shares authorized (in shares)				1,600,000
Preferred stock, shares issued (in shares)				1,600,000
Preferred stock, shares outstanding (in shares)				1,600,000
Preferred Stock, Value, Issued				$ 800
Preferred Stock, Liquidation Preference, Value				$ 800
Issuance Price Per Share (in dollars per share)				$ 0.5000
Series B convertible preferred stock
Class of Stock [Line Items]
Preferred Stock, shares authorized (in shares)				6,108,000
Preferred stock, shares issued (in shares)				6,108,000
Preferred stock, shares outstanding (in shares)				6,108,000
Preferred Stock, Value, Issued				$ 9,961
Preferred Stock, Liquidation Preference, Value				$ 9,999
Issuance Price Per Share (in dollars per share)				$ 1.6370
Series B-1 convertible preferred stock
Class of Stock [Line Items]
Preferred Stock, shares authorized (in shares)				2,492,570
Preferred stock, shares issued (in shares)				2,449,700
Preferred stock, shares outstanding (in shares)				2,449,700
Preferred Stock, Value, Issued				$ 9,663
Preferred Stock, Liquidation Preference, Value				$ 9,714
Issuance Price Per Share (in dollars per share)				$ 3.9655
Series C convertible preferred stock
Class of Stock [Line Items]
Preferred Stock, shares authorized (in shares)				6,989,863
Preferred stock, shares issued (in shares)				6,989,863
Preferred stock, shares outstanding (in shares)				6,989,863
Preferred Stock, Value, Issued				$ 41,799
Preferred Stock, Liquidation Preference, Value				$ 42,000
Issuance Price Per Share (in dollars per share)				$ 6.0087
Series D convertible preferred stock
Class of Stock [Line Items]
Preferred Stock, shares authorized (in shares)				2,176,297
Preferred stock, shares issued (in shares)				2,176,297
Preferred stock, shares outstanding (in shares)				2,176,297
Preferred Stock, Value, Issued				$ 40,305
Preferred Stock, Liquidation Preference, Value				$ 40,500
Issuance Price Per Share (in dollars per share)				$ 18.6096
Convertible preferred stock
Class of Stock [Line Items]
Preferred Stock, shares authorized (in shares)				22,057,133
Preferred stock, shares issued (in shares)				22,014,263
Preferred stock, shares outstanding (in shares)	0	0		22,014,263
Preferred Stock, Value, Issued				$ 102,976
Preferred Stock, Liquidation Preference, Value				$ 103,461