Stockholders’ Equity - Reserved Shares of Common Stock for Issuance (Details) - shares	Sep. 30, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Shares reserved of common stock for issuance	28,554,637	26,142,793
2020 Equity Incentive Plan | Common stock
Class of Stock [Line Items]
Shares reserved of common stock for issuance	8,920,902	9,979,700
Stock Options
Class of Stock [Line Items]
Shares reserved of common stock for issuance	11,723,427	12,785,176
Restricted Stock Units (RSUs)
Class of Stock [Line Items]
Shares reserved of common stock for issuance	4,679,719	1,508,615
PRSUs
Class of Stock [Line Items]
Shares reserved of common stock for issuance	687,500	0
Employee Stock Purchase Program (ESPP)
Class of Stock [Line Items]
Shares reserved of common stock for issuance	2,543,089	1,869,302