Equity - Additional Information (Details) $ / shares in Units, $ in Thousands		3 Months Ended		9 Months Ended
	Jul. 07, 2020 USD ($) $ / shares shares	Sep. 30, 2021 USD ($) $ / shares shares	Sep. 30, 2020 USD ($) shares	Sep. 30, 2021 USD ($) offering $ / shares shares	Sep. 30, 2020 USD ($) $ / shares shares	Dec. 31, 2020 $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, shares authorized (in shares)		100,000,000		100,000,000		100,000,000
Common stock, par value (in dollars per share) | $ / shares		$ 0.000001		$ 0.000001		$ 0.000001
Common stock, shares issued (in shares)		42,428,134		42,428,134		42,196,296
Common stock, shares outstanding (in shares)		42,428,134		42,428,134		42,196,296
Warrants, notice period for nominal cash consideration				61 days
Percentage of outstanding stock per stockholder, maximum				9.99%
Underwriting discounts, commissions, and offering costs for issuance of common stock and pre-funded warrants | $	$ 4,900
Proceeds from issuance of common stock and pre-funded warrants, net of costs | $	$ 71,300			$ 0	$ 71,675
Unrecognized stock-based compensation cost | $		$ 35,900		$ 35,900
Unrecognized stock-based compensation cost, weighted-average period recognized				2 years 11 months 19 days
Shares issued upon exercises of stock options (in shares)				124,366	581,270
Aggregate intrinsic value of options exercised | $				$ 1,300	$ 2,800
Weighted average grant date fair value for options granted in period (in dollars per share) | $ / shares				$ 6.49	$ 8.69
Number of common stock shares issued upon vesting of restricted stock unit (in shares)		1		1
Stock-based compensation expense | $		$ 3,210	$ 1,688	$ 8,548	$ 3,393
2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock shares reserved for issuance under employee stock purchase plan (in shares)		759,936		759,936
Issuance of shares under Employee Stock Purchase Plan (in shares)				22,972
Sale of stock, price per share (in dollars per share) | $ / shares		$ 9.53		$ 9.53
Proceeds from ESPP | $				$ 200
Accrued employee benefits | $		$ 200		$ 200
Performance-based RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units granted (in shares)				50,000
Performance-based RSUs | Share-based Payment Arrangement, Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units vested (in shares)				25,000
Stock-based compensation expense | $				$ 300
Performance-based RSUs | Share-based Payment Arrangement, Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units not expected to vest (in shares)		25,000		25,000
Unrecognized stock-based compensation, excluding options | $		$ 300		$ 300
Shares issuable under 2020 ESPP | 2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
ESPP max contribution rate		15.00%		15.00%
ESPP, purchase price of common stock, percent of market price				85.00%
ESPP number of offerings per year | offering				2
ESPP offering period				6 months
Prefunded Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price of pre-funded warrants (in dollars per share) | $ / shares	$ 0.000001
Number of common stock in prefunded warrants (in shares)	1,737,529
Pre funded warrant issued (in dollars per share) | $ / shares	$ 15.249999
Public Stock Offering
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Sale of shares under public offering (in shares)	3,262,471
Sale of shares under public offering (in dollars per share) | $ / shares	$ 15.25
Prefunded Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding pre-funded warrants (in shares)		12,663,010	12,663,010	12,663,010	12,663,010
Warrants, notice period for nominal cash consideration				61 days	61 days
Exercise price of pre-funded warrants (in dollars per share) | $ / shares		$ 0.000001		$ 0.000001