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Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions			1 Months Ended	3 Months Ended
	Jun. 16, 2020	Apr. 01, 2019	Jun. 30, 2020	Mar. 31, 2021	Mar. 31, 2020	Dec. 31, 2020	Dec. 31, 2019	Jan. 31, 2013
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares authorized	400,000,000			400,000,000		400,000,000
Preferred stock undesignated shares authorized	40,000,000			40,000,000		40,000,000
Common stock par value per share	$ 0.0001			$ 0.0001		$ 0.0001
Preferred stock par value per share	$ 0.0001			0.0001		$ 0.0001
Reclassified accumulated deficit from predecessor deficit to additional paid in capital		$ 44.1
Weighted-average grant date fair value of options granted				$ 16.89	$ 3.61
Time-based Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost				$ 53.4
Weighted-average period of unrecognized compensation cost				3 years 3 months 18 days
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period				4 years
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period				2 years
2013 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Units initially reserved for issuance								2,127,013
Increased to number of shares reserved under plan							4,771,615
2013 Equity Incentive Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period				10 years
2020 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock initially reserved for issuance			3,900,000
Percentage of shares of common stock outstanding on final day of immediately preceding calendar year			5.00%
Number of remaining shares available for issuance				2,963,134
2020 Incentive Award Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period				10 years
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Participant maximum contribution as percentage of eligible compensation			15.00%
Percentage of purchase price of shares of lower of fair market value			85.00%
Shares of common stock available for issuance				671,710
Shares issued under ESPP				0
Unrecognized compensation cost				$ 0.1
Weighted-average period of unrecognized compensation cost				2 months 12 days
Employee Stock Purchase Plan \| Accounts Payable and Accrued Liabilities
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding liability				$ 0.2
Series A Convertible Preferred Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred unit converted into convertible preferred stock		1
Series B Convertible Preferred Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred unit converted into convertible preferred stock		1
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common unit converted into common stock		1
IPO
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction	16,560,000
Sale of stock, price per share	$ 18.00
Proceeds from the IPO, net of underwriting discounts, commissions and offering costs	$ 274.1
Convertible preferred stock converted into shares of common stock	17,921,069
IPO \| Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares authorized	400,000,000
Convertible preferred stock converted into shares of common stock			17,921,069