Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Schedule of Stock-Based Compensation Expense Recognized (Details)

v3.20.4
Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Schedule of Stock-Based Compensation Expense Recognized (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense $ 11,917 $ 10,312 $ 2,872
Research and Development Expense      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 2,687 1,915 619
Research and Development Expense | Stock Options      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 1,405 903 425
Research and Development Expense | Restricted Stock Units      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 770 623 95
Research and Development Expense | ESPP      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 512 389 99
General and Administrative Expense      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 9,230 8,397 2,253
General and Administrative Expense | Stock Options      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 7,098 6,815 1,895
General and Administrative Expense | Restricted Stock Units      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 2,021 1,464 323
General and Administrative Expense | ESPP      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense $ 111 $ 118 $ 35