Annual report pursuant to Section 13 and 15(d)

Income Taxes - Schedule of Effective Tax Rate of Provision for Income Taxes Differs From Federal Statutory Rate (Details)

v3.20.4
Income Taxes - Schedule of Effective Tax Rate of Provision for Income Taxes Differs From Federal Statutory Rate (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Effective Income Tax Rate Continuing Operations Tax Rate Reconciliation [Abstract]      
Federal statutory income tax rate 21.00% 21.00% 21.00%
State taxes, net of federal benefit 1.10% 0.90% 6.40%
Foreign tax rate differential 0.00% 0.20% 0.10%
Permanent differences (2.70%) (1.70%) 0.30%
Research and development credit 2.60% 1.90% 1.40%
Change in valuation allowance (22.00%) (22.30%) (29.20%)