Summary of Significant Accounting Policies (Tables)

12 Months Ended

Dec. 31, 2020

Accounting Policies [Abstract]

Schedule of Potentially Dilutive Securities not Included in Calculation of Diluted Net Loss Per Share/Unit

Potentially dilutive securities not included in the calculation of diluted net loss per share/unit, because to do so would be anti-dilutive, are as follows (in common stock/unit equivalents; in thousands):

	December 31,
	2020		2019		2018
Convertible preferred stock/units		—		17,666		5,906
Warrant to purchase convertible preferred    stock/units		—		8		8
Warrant to purchase common stock/units		—		9		9
Common stock/unit options issued and    outstanding		3,788		1,667		300
Common stock/units subject to repurchase or    forfeiture		69		195		263
ESPP shares pending issuance		1		—		—
Total		3,858		19,545		6,486