Common Stock - Schedule of Common Stock Shares Reserved for Future Issuance (Details) - shares	Jun. 30, 2022	Dec. 31, 2021
Restricted stock units outstanding
Class Of Stock [Line Items]
Common stock reserved for future issuances	429,022
2020 Plan and 2014 Plan
Class Of Stock [Line Items]
Common stock reserved for future issuances	13,883,252	11,399,763
2020 Plan and 2014 Plan | Options Issued and Outstanding
Class Of Stock [Line Items]
Common stock reserved for future issuances	7,173,842	5,295,007
2020 Plan and 2014 Plan | Restricted stock units outstanding
Class Of Stock [Line Items]
Common stock reserved for future issuances	429,022	0
2020 Plan and 2014 Plan | Shares Available for Future Stock Option Grants
Class Of Stock [Line Items]
Common stock reserved for future issuances	6,280,388	6,104,756