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Stock-Based Compensation - Summary of Option Activity Under the Plan (Details) - 2020 Plan and 2014 Plan - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares underlying options, Beginning balance 5,118,979  
Number of Shares underlying options, Options granted 957,159  
Number of Shares underlying options, Options exercised (166,897)  
Number of Shares underlying options, Options cancelled (17,120)  
Number of Shares underlying options, Ending balance 5,892,121 5,118,979
Number of Shares underlying options, Options vested and expected to vest 5,892,121  
Number of Shares underlying options, Options vested and exercisable 2,122,287  
Weighted-average exercise price, Beginning balance $ 7.37  
Weighted-average exercise price, Options granted 42.58  
Weighted-average exercise price, Options exercised 3.65  
Weighted-average exercise price, Options cancelled 33.50  
Weighted-average exercise price, Ending balance 13.12 $ 7.37
Weighted-average exercise price, Options vested and expected to vest 13.12  
Weighted-average exercise price, Options vested and exercisable $ 4.47  
Weighted-average remaining contractual term (in years) 8 years 4 months 9 days 8 years 3 months
Weighted-average remaining contractual term, Options vested and expected to vest 8 years 4 months 9 days  
Weighted-average remaining contractual term, Options vested and exercisable 7 years 7 months 9 days  
Aggregate intrinsic value $ 193,040 $ 165,088
Aggregate intrinsic value, Options vested and expected to vest 193,040  
Aggregate intrinsic value, Options vested and exercisable $ 87,893