Common Stock - Schedule of Common Stock Shares Reserved for Future Issuance (Details) - 2020 Plan and 2014 Plan - shares	Mar. 31, 2023	Dec. 31, 2022
Class of Stock [Line Items]
Common stock reserved for future issuances	16,696,746	12,851,858
Options Issued and Outstanding
Class of Stock [Line Items]
Common stock reserved for future issuances	9,147,034	7,715,494
Restricted stock units outstanding
Class of Stock [Line Items]
Common stock reserved for future issuances	773,660	456,766
Shares Available for Future Stock Option Grants
Class of Stock [Line Items]
Common stock reserved for future issuances	6,776,052	4,679,598