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Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Sep. 30, 2020
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Weighted average grant date fair value per share of option grants   $ 7.34 $ 8.01  
Total intrinsic value of stock options exercised   $ 1,200 $ 1  
Common stock available for future issuance   7,543,558   6,471,940
Stock-based compensation expense   $ 1,520 $ 503  
Unrecognized stock-based compensation cost   $ 18,700    
Remaining weighted average period of unrecognized stock-based compensation cost   3 years 1 month 6 days    
2020 Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares authorized for issuance   3,166,412    
Number of shares available for issuance   3,166,412    
Equity Plans        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Option vesting period term   Options issued under the Equity Plans vest over a four-year period from the vesting commencement date    
Equity Plans | Maximum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Maximum term of options granted   10 years    
ESPP        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Maximum contribution percentage of eligible gross compensation 15.00%      
Maximum number of common stock shares purchase by eligible employees 20,000      
Percentage of fair market value of common stock 85.00%      
Offering period 2 years      
Offering period term   Offerings under the ESPP are approximately two years in duration and consist of four purchase periods that are approximately six months in duration    
Common stock available for future issuance   665,059    
Stock-based compensation expense   $ 30