Stockholders' Equity (Deficit) - Schedule of Common Stock Reserved for Future Issuance (Details) - shares shares in Thousands	Dec. 31, 2020	Dec. 31, 2019
Class Of Stock [Line Items]
Common stock reserved for future issuance	6,936	20,951
Conversion of Convertible Preferred Stock
Class Of Stock [Line Items]
Common stock reserved for future issuance	0	17,666
Common Stock Options Issued and Outstanding
Class Of Stock [Line Items]
Common stock reserved for future issuance	3,788	1,667
Preferred and Common Stock Warrants Outstanding
Class Of Stock [Line Items]
Common stock reserved for future issuance	0	17
Equity Awards Available for Future Issuance under Equity Plans
Class Of Stock [Line Items]
Common stock reserved for future issuance	2,852	1,601
Common Stock Authorized under the ESPP
Class Of Stock [Line Items]
Common stock reserved for future issuance	296	0