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Common Stock - Additional Information (Details) - shares
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2021
Dec. 31, 2020
Class Of Stock [Line Items]      
Reserved shares of common stock for future issuance 7,823,228 7,823,228 6,040,105
Common Stock      
Class Of Stock [Line Items]      
Issued common stock, share under employee stock purchase plan 15,867 15,867  
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 1,624,259 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 324,851 324,851