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Stock-based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Weighted-average grant date fair value of stock options granted $ 5.64 $ 14.02 $ 22.57 $ 15.73
Total grant date fair value of stock options vested $ 3,418 $ 2,406 $ 12,231 $ 5,751
Total unrecognized stock-based compensation expense relating to unvested stock options, restricted stock awards and restricted stock units 46,901   $ 46,901  
Unrecognized unvested stock options, restricted stock awards and restricted stock units, weighted-average period     2 years 7 months 20 days  
Restricted Common Stock        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Options vesting period     4 years  
Total value of restricted stock awards, vested based on estimated fair value of stock $ 0 $ 1 $ 2 $ 19
Restricted Stock Units        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Vesting description     vest in equal installments in the first quarter of 2022 and the third quarter of 2022