Common Stock - Summary of Reserved Shares of Common Stock (Details) - shares	Dec. 31, 2020	Dec. 31, 2019
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance	16,163,783	38,007,647
Series A Preferred
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance		20,000,000
Series B Preferred
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance		7,592,830
Series C Preferred
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance		6,052,617
Outstanding options
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance	7,917,783	3,911,633
Options available for future grant
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance	7,059,000	450,567
Shares reserved under ESPP
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance	1,187,000