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Common Stock - Additional Information (Details) - shares
9 Months Ended
Sep. 30, 2022
Jan. 01, 2022
Dec. 31, 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  
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