Common Stock - Summary of Reserved Shares of Common Stock (Details)	Dec. 31, 2022 shares
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance	23,638,028
Outstanding options
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance	13,632,278
Outstanding restricted stock units
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance	161,750
Outstanding performance-based restricted stock units
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance	724,970
Shares reserved for future grant under 2020 Incentive Award Plan
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance	7,961,066
Shares reserved under ESPP
Class Of Stock [Line Items]
Common stock, capital shares reserved for future issuance	1,157,964