Redeemable Convertible Preferred Stock - Additional Information (Details) $ / shares in Units, $ in Thousands								12 Months Ended
	Jul. 24, 2020 $ / shares shares	May 08, 2020 USD ($) $ / shares shares	Mar. 03, 2020 USD ($) $ / shares shares	Jan. 20, 2020 shares	Dec. 10, 2019 USD ($) $ / shares shares	Nov. 18, 2019 $ / shares shares	Jun. 18, 2019 $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares	Dec. 31, 2019 USD ($) shares	Dec. 31, 2015 program
Series A Preferred Stock
Class of Stock [Line Items]
Sale of stock, price (in dollars per share) | $ / shares								$ 1.00
Temporary equity, conversion rate (in dollars per share) | shares								2.14
Series B Preferred Stock
Class of Stock [Line Items]
Sale of stock, price (in dollars per share) | $ / shares								$ 3.00
Temporary equity, conversion rate (in dollars per share) | shares								6.42
Series B-1 Preferred Stock
Class of Stock [Line Items]
Stock repurchased during period, shares | shares							2,666,666		2,666,666
Sale of stock, price (in dollars per share) | $ / shares							$ 3.75	$ 3.75
Sale of stock, net of discounts, commissions and offering expenses | $									$ 10,000
Payments of stock issuance costs | $									$ 61
Temporary equity, conversion rate (in dollars per share) | shares								8.03
Series C Preferred Stock
Class of Stock [Line Items]
Stock repurchased during period, shares | shares			5,825,243	5,825,243	5,242,720	5,825,243			9,805,827
Stock repurchased and retired during period, shares | shares								5,825,243
Sale of stock, price (in dollars per share) | $ / shares		$ 5.15	$ 5.15		$ 5.15	$ 5.15		$ 5.15
Gain (loss) on repurchase of redeemable convertible preferred stock | $								$ 500
Repurchase of Series C redeemable convertible preferred stock | $								493
Sale of stock (in shares) | shares		4,563,108
Sale of stock, net of discounts, commissions and offering expenses | $		$ 23,500	$ 30,000		$ 50,500
Payments of stock issuance costs | $					$ 200			$ 41	$ 165
Temporary equity, conversion rate (in dollars per share) | shares								11.02
Series C Preferred Stock | Accumulated Deficit
Class of Stock [Line Items]
Repurchase of Series C redeemable convertible preferred stock | $								$ 493
Redeemable convertible preferred stock
Class of Stock [Line Items]
Temporary equity, automatic conversion, sale of common stock, price per share | $ / shares								$ 10.30
Temporary equity, automatic conversion, sale of common stock, gross proceeds | $								$ 75,000
Temporary Equity, Conversion Rate to Common Stock | $ / shares								$ 0.4673
Number of installments | program										3
Installment term										60 days
Series C-1 Preferred Stock
Class of Stock [Line Items]
Sale of stock, price (in dollars per share) | $ / shares	$ 5.67
Sale of stock (in shares) | shares	19,444,453							19,444,453
Sale of stock, net of discounts, commissions and offering expenses | $								$ 110,300
Payments of stock issuance costs | $								$ 154
Temporary equity, conversion rate (in dollars per share) | shares								12.13