Equity Incentive Plans - Summary of Estimated Fair Value of Shares Under Employee Stock Purchase Plan (Details)	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Fair Value Assumptions
Expected volatility, Minimum	78.10%	81.00%
Expected volatility, Maximum	78.90%	82.50%
Expected dividend yield	0.00%	0.00%
Expected term (in years)	5 years 4 months 24 days	5 years 6 months
Risk-free interest rate, Minimum	1.60%	0.50%
Risk-free interest rate, Maximum	2.40%	1.00%
2020 Employee Stock Purchase Plan
Fair Value Assumptions
Expected volatility, Minimum	86.70%	105.80%
Expected volatility, Maximum	97.50%	158.20%
Expected dividend yield	0.00%	0.00%
Risk-free interest rate, Minimum	0.10%	0.10%
Risk-free interest rate, Maximum	0.50%	0.20%
2020 Employee Stock Purchase Plan | Minimum
Fair Value Assumptions
Expected term (in years)	6 months	4 months 24 days
2020 Employee Stock Purchase Plan | Maximum
Fair Value Assumptions
Expected term (in years)	2 years	2 years