Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans - Schedule of Fair Value of Stock Option Grants Valuation Assumptions by Block-Scholes Option Pricing Model (Details)

v3.21.1
Equity Incentive Plans - Schedule of Fair Value of Stock Option Grants Valuation Assumptions by Block-Scholes Option Pricing Model (Details) - $ / shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected term (in years) 6 years 6 years 6 years
Risk-free interest rate, minimum 0.36% 1.71% 2.60%
Risk-free interest rate, maximum 0.83% 2.49% 3.00%
Expected dividend yield 0.00%    
Minimum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Fair value of common stock $ 23.49 $ 20.07 $ 23.72
Expected volatility 64.00% 64.00% 64.00%
Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Fair value of common stock $ 34.07 $ 44.95 $ 47.39
Expected volatility 68.00% 67.00% 67.00%