Annual report pursuant to Section 13 and 15(d)

Stock-based Compensation - Summary of Stock Option Activity (Details)

v3.20.4
Stock-based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]      
Options Outstanding 2,645,714 1,320,197  
Options granted 26,000 1,635,853  
Options exercised (541,268) (95,739)  
Options forfeited (510,755) (186,266)  
Options cancelled (175,751) (28,331)  
Options Outstanding 1,443,940 2,645,714 1,320,197
Options Vested and expected to vest at December 31, 2020 1,443,940    
Options exercisable at December 31, 2020 669,852    
Outstanding, Weighted average exercise price per share $ 3.50 $ 0.77  
Options granted, Weighted average exercise price per share 0.86 5.94  
Options exercised, Weighted average exercise price per share 0.71 0.85  
Options forfeited, Weighted average exercise price per share 4.73 7.02  
Options cancelled, Weighted average exercise price per share 7.04 2.72  
Outstanding, Weighted average exercise price per share 3.64 $ 3.50 $ 0.77
Vested and expected to vest at December 31, 2020, Weighted average exercise price per share 3.64    
Exercisable at December 31, 2020, Weighted average exercise price per share $ 4.19    
Outstanding, Weighted average remaining contractual life (in years) 7 years 9 months 25 days 8 years 6 months 3 days 7 years 11 months 26 days
Vested and expected to vest at December 31, 2020, Weighted average remaining contractual life (in years) 7 years 9 months 25 days    
Exercisable at December 31, 2020, Weighted average remaining contractual life (in years) 6 years 7 months 13 days    
Outstanding, Aggregate Intrinsic Value $ 24 $ 4,184 $ 8,465
Vested and expected to vest at December 31, 2020, Aggregate Intrinsic Value 24    
Exercisable at December 31, 2020, Aggregate Intrinsic Value $ 24