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Stock-based Compensation - 2017 Equity Incentive Plan (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Jan. 01, 2020
Jan. 01, 2019
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Jan. 01, 2021
Stock-based Compensation            
Stock options total intrinsic value of stock options         $ 7,980  
Nonemployees            
Stock-based compensation            
Expected term (in years)     10 years      
2017 Equity Incentive Plan            
Stock-based Compensation            
Common stock reserved for issuance 1,759,870 1,376,429 5,375,772     1,769,436
Percentage increase in authorized shares under the plan     4.00%      
Stock options total intrinsic value of stock options     $ 2,661 $ 3,844    
Authorized shares     7,484,536      
Shares available for future grant     2,108,764      
Common stock reserved for issuance 1,759,870 1,376,429 5,375,772     1,769,436
Grant cliff vesting period     1 year      
Number of common stock options granted     2,546,075 1,445,200 1,218,790  
Weighted average grant date fair value relating to outstanding stock options     $ 13.25 $ 17.19 $ 17.27  
2017 Equity Incentive Plan | Exercise Price Not Less Than 100% Of Fair Market Value            
Stock-based Compensation            
Exercise price of incentive stock options over fair market value of the common stock     100.00%      
2017 Equity Incentive Plan | Exercise Price Not Less Than 110% Of Fair Market Value            
Stock-based Compensation            
Exercise price of incentive stock options over fair market value of the common stock     110.00%      
2017 Equity Incentive Plan | Employees            
Stock-based compensation            
Risk-free interest rate     0.76% 2.40% 2.73%  
Expected term (in years)     6 years 29 days 6 years 25 days 5 years 10 months 20 days  
Expected volatility     70.67% 66.03% 62.21%  
2017 Employee Stock Purchase Plan            
Stock-based Compensation            
Common stock reserved for issuance     1,000,993      
Number of additional shares added 439,968 344,107        
Percentage increase in authorized shares under the plan     1.00%      
Common stock reserved for issuance     1,000,993      
Number of common stock options granted     30,052      
Maximum | 2017 Equity Incentive Plan            
Stock-based Compensation            
Vesting period of stock option awards     4 years      
Maximum | 2017 Equity Incentive Plan | Exercise Price Not Less Than 110% Of Fair Market Value            
Stock-based Compensation            
Voting power of stock     10.00%      
Minimum | 2017 Equity Incentive Plan            
Stock-based Compensation            
Vesting period of stock option awards     1 year      
Minimum | 2017 Equity Incentive Plan | Exercise Price Not Less Than 100% Of Fair Market Value            
Stock-based Compensation            
Voting power of stock     10.00%