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Common Stock - Additional Information (Details) - shares
6 Months Ended
Jun. 30, 2022
Jan. 01, 2022
Dec. 31, 2021
Jan. 01, 2021
Class Of Stock [Line Items]        
Reserved shares of common stock for future issuance 9,500,018   7,695,922  
2020 Equity Incentive Plan        
Class Of Stock [Line Items]        
Share based compensation maximum annual increase in number of shares that may be issued under the plan 3,230,000      
Share based compensation percentage of number shares of common stock issued and outstanding on immediate proceeding 5.00%      
Reserved shares of common stock for future issuance   1,868,953   1,624,259
2020 Employee Stock Purchase Plan        
Class Of Stock [Line Items]        
Share based compensation maximum annual increase in number of shares that may be issued under the plan 646,000      
Share based compensation percentage of number shares of common stock issued and outstanding on immediate proceeding 1.00%      
Reserved shares of common stock for future issuance   373,790   324,851