Stockholders' Equity (Deficit) - Additional Information (Details) - USD ($)					1 Months Ended			12 Months Ended
	Aug. 06, 2021	Jul. 02, 2021	Jun. 16, 2020	Apr. 01, 2019	Jun. 30, 2020	Jan. 31, 2020	Nov. 30, 2019	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Jan. 31, 2013
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares authorized			400,000,000					400,000,000	400,000,000
Preferred stock undesignated shares authorized			40,000,000					40,000,000	40,000,000
Common stock par value per share			$ 0.0001					$ 0.0001	$ 0.0001
Preferred stock par value per share			$ 0.0001					$ 0.0001	$ 0.0001
Sale of stock number of shares issued in transaction								780,549,000
Sale of common stock maximum aggregate offering price		$ 150,000,000.0
Termination notice period for sales agreement		10 days
Net proceeds from Issuance of common stock after deducting offering-related transaction costs and commissions								$ 19,600,000
Reclassified accumulated deficit from predecessor deficit to additional paid in capital				$ 44,100,000
Proceeds from issuance of Series C convertible preferred stock, net of issuance costs								0	$ 2,200,000	$ 72,623,000
Issuance costs								$ 11,262,000	$ 24,026,000	0
Shares of common stock reserved for future issuance								8,992,000	6,936,000
Award vesting period								4 years
Total intrinsic value of options exercised								$ 3,400,000	$ 500,000	$ 7,000
Weighted-average grant date fair value of options granted								$ 16.78	$ 11.63	$ 3.46
Stock options exercised were unvested								15,288	69,359
Expected dividend yield								0.00%	0.00%	0.00%
Time-based Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost								$ 46,900,000
Weighted-average period of unrecognized compensation cost								2 years 7 months 6 days
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)								6 years 1 month 6 days	6 years 1 month 6 days	6 years 1 month 6 days
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)								5 years 6 months	5 years 4 months 24 days	2 years
2013 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Units initially reserved for issuance											2,127,013
Increased to number of shares reserved under plan											4,771,615
2013 Equity Incentive Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period								10 years
2020 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance					3,900,000
Percentage of shares of common stock outstanding on final day of immediately preceding calendar year					5.00%
Number of remaining shares available for issuance								2,574,824
2020 Incentive Award Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period								10 years
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Participant maximum contribution as percentage of eligible compensation					15.00%
Percentage of purchase price of shares of lower of fair market value					85.00%
Shares of common stock available for issuance								638,563
Shares issued under ESPP								33,147	28,979
Expected term (in years)								6 months	6 months
Expected dividend yield								0.00%	0.00%
Unrecognized compensation cost								$ 200,000
Weighted-average period of unrecognized compensation cost								6 months
Employee Stock Purchase Plan | Accounts Payable and Accrued Liabilities
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding liability								$ 53,000
Series A Convertible Preferred Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred unit converted into convertible preferred stock				1
Series B Convertible Preferred Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred unit converted into convertible preferred stock				1
Series C Convertible Preferred Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred stock, shares issued						537,232	17,915,525
Stock issued price per share						$ 4.2812	$ 4.2812
Proceeds from issuance of Series C convertible preferred stock, net of issuance costs						$ 2,200,000	$ 72,600,000
Issuance costs						$ 100,000	$ 4,100,000
Series C Convertible Preferred Stock | Convertible Notes
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Conversion of convertible note payable to preferred stock							6,893,036
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common unit converted into common stock				1
Outstanding shares of convertible preferred stock converted into common stock									17,921,000
Shares issued under ESPP								33,000	29,000
Public Offering
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction			16,560,000
Sale of stock, price per share			$ 18.00
Proceeds from the IPO, net of underwriting discounts, commissions and offering costs			$ 274,100,000
Outstanding shares of convertible preferred stock converted into common stock			17,921,069
Public Offering | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares authorized			400,000,000
Outstanding shares of convertible preferred stock converted into common stock					17,921,069
Follow-on Public Offering | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction	9,200,000
Sale of stock, price per share	$ 18.00
Proceeds from the follow-on public offering, net of underwriting discounts, commissions and offering costs	$ 155,100,000