Equity Incentive Plans - Summary of Estimated Fair Value of Shares Under Employee Stock Purchase Plan (Details)	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Fair Value Assumptions
Expected volatility, Minimum	78.90%	81.20%	78.10%	81.00%
Expected volatility, Maximum	81.20%	81.80%	81.20%	82.50%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Expected term (in years)	5 years 6 months	5 years 6 months		5 years 6 months
Risk-free interest rate, Minimum	2.80%	0.90%	1.60%	0.50%
Risk-free interest rate, Maximum	3.00%	1.00%	3.00%	1.00%
Minimum
Fair Value Assumptions
Expected term (in years)			5 years 4 months 24 days
Maximum
Fair Value Assumptions
Expected term (in years)			5 years 6 months
2020 Employee Stock Purchase Plan
Fair Value Assumptions
Expected volatility, Minimum	78.80%	79.60%	78.80%	79.60%
Expected volatility, Maximum	82.00%	88.80%	97.50%	126.30%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Risk-free interest rate, Minimum	1.60%	0.00%	0.10%	0.00%
Risk-free interest rate, Maximum	2.70%	0.20%	2.70%	0.20%
2020 Employee Stock Purchase Plan | Minimum
Fair Value Assumptions
Expected term (in years)	6 months	6 months	6 months	6 months
2020 Employee Stock Purchase Plan | Maximum
Fair Value Assumptions
Expected term (in years)	2 years	2 years	2 years	2 years