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Stock-Based Compensation - Additional Information (Details)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended 6 Months Ended 12 Months Ended
May 05, 2021
shares
Jun. 30, 2020
Period
Jun. 30, 2021
USD ($)
shares
Mar. 31, 2021
shares
Jun. 30, 2021
USD ($)
$ / shares
shares
Jun. 30, 2020
$ / shares
Dec. 31, 2020
USD ($)
shares
Jan. 01, 2021
shares
Mar. 04, 2020
shares
Dec. 31, 2019
shares
Mar. 31, 2019
shares
Feb. 28, 2018
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                        
Common stock shares reserved for future issuance     92,742,943   92,742,943   60,605,522          
Weighted-average grant date fair value of options granted | $ / shares         $ 2.13 $ 6.78            
Unrecognized compensation cost related to unvested stock options expected to be recognized amount | $     $ 23.2   $ 23.2   $ 12.8          
Unrecognized compensation cost related to unvested stock options expected to be recognized over remaining weighted average vesting period         2 years 9 months 25 days   2 years 11 months 4 days          
Common stock authorized to issue     350,000,000   350,000,000   350,000,000          
Restricted Stock Units (RSUs)                        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                        
Common stock shares reserved for future issuance     4,377,826   4,377,826   1,468,765          
Options to Purchase Common Stock                        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                        
Common stock shares reserved for future issuance     11,166,946   11,166,946   4,268,945          
2018 Equity Incentive Plan                        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                        
Shares available for future grant                     1,100,000  
Second Amended and Restated 2012 Stock Plan                        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                        
Stock options issuable under the plan                       0
2015 Consultant Stock Plan                        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                        
Stock options issuable under the plan                       0
Second Amended and Restated 2018 Equity Incentive Plan                        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                        
Shares available for future grant                   2,700,000    
Third Amended and Restated 2018 Equity Incentive Plan                        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                        
Shares available for future grant                 7,615,733      
2018 Third Amended Plan                        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                        
Shares available for future grant     4,876,797   4,876,797              
Common stock shares reserved for future issuance               4,537,676        
Increase of shares authorized for issuance 7,700,000                      
Common stock authorized to issue 19,853,409                      
2020 Employee Stock Purchase Plan                        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                        
Common stock shares reserved for future issuance     812,891   812,891   510,000 557,723        
Percentage of fair market value of shares on the offering date   85.00%                    
Percentage of fair market value of shares on the purchase date   85.00%                    
Maximum duration for purchase under employee stock purchase plan   24 months                    
Number of purchase periods | Period   4                    
Duration of each purchase period   6 months                    
Common Stock                        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                        
Issuance of stock     15,694,332 4,370,629