Common Stock - Schedule of Common Stock Shares Reserved for Future Issuance (Details) - 2020 Plan and 2014 Plan - shares	Dec. 31, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Common stock reserved for future issuances	12,851,858	11,399,763
Options Issued and Outstanding
Class Of Stock [Line Items]
Common stock reserved for future issuances	7,715,494	5,295,007
Shares Available for Future Stock Option Grants
Class Of Stock [Line Items]
Common stock reserved for future issuances	4,679,598	6,104,756
Restricted Stock Units RSU Member
Class Of Stock [Line Items]
Common stock reserved for future issuances	456,766	0