Equity - Additional Information (Details) $ / shares in Units, $ in Millions	6 Months Ended
	Jun. 30, 2022 USD ($) offering $ / shares shares	Jun. 30, 2021 USD ($) $ / shares shares	Dec. 31, 2021 $ / shares shares	Nov. 04, 2021 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, shares authorized (in shares)	100,000,000		100,000,000
Common stock, par value (in dollars per share) | $ / shares	$ 0.000001		$ 0.000001
Common stock, shares issued (in shares)	42,579,852		42,457,471
Common stock, shares outstanding (in shares)	42,579,852		42,457,471
Percentage of outstanding stock per stockholder, maximum	9.99%
Percentage of outstanding stock per stockholder, upon notice, maximum	19.99%
Warrants, notice period for nominal cash consideration	61 days
Unrecognized stock-based compensation cost | $	$ 21.0
Unrecognized stock-based compensation cost, weighted-average period recognized	2 years 5 months 1 day
Shares issued upon exercises of stock options (in shares)	36,500	116,861
Aggregate intrinsic value of options exercised | $	$ 0.1	$ 1.2
Weighted average grant date fair value for options granted in period (in dollars per share) | $ / shares	$ 1.47	$ 8.99
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
Issuance of shares under Employee Stock Purchase Plan (in shares)	75,881
Sale of stock, price per share (in dollars per share) | $ / shares	$ 0.83
Proceeds from ESPP | $	$ 0.1
Accrued employee benefits | $	$ 0.1
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%
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
Equity Offering Sales Agreement
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Purchase Price | $				$ 40.0
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
Exercise price of pre-funded warrants (in dollars per share) | $ / shares	$ 0.000001