Summary of Significant Accounting Policies - Additional Information (Details)	12 Months Ended
	Dec. 31, 2022 USD ($) Segment	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)
Accounting Policies [Line Items]
Recognition method for costs of obtaining a contract	The Company has elected the practical expedient in ASC 340, Other Assets and Deferred Costs, wherein it recognizes the incremental costs of obtaining a contract as an expense when incurred if, at inception, the expected amortization period of the asset that the Company otherwise would have recognized is one year or less.
Incremental cost included in general and administration costs	$ 48,714,000	$ 45,785,000	$ 21,640,000
Impairment losses	$ 0	$ 0	$ 0
Expected dividend yield	0.00%	0.00%	0.00%
Number of operating segments | Segment	1
Number of reportable segments | Segment	1
2020 Employee Stock Purchase Plan
Accounting Policies [Line Items]
Percentage of common stock purchase price, lesser of market value per share on offering or purchase date	85.00%
Percentage of discount on common stock purchase price	15.00%
Research and Development Expense
Accounting Policies [Line Items]
Retainage deposit	$ 1,494,000
Incremental Cost | Roche License
Accounting Policies [Line Items]
Incremental cost included in general and administration costs	$ 7,000,000