Equity Incentive Plans - Summary of Estimated Fair Value of Shares Under Employee Stock Purchase Plan (Details)	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Fair Value Assumptions
Expected volatility, Minimum	73.60%	78.10%
Expected volatility, Maximum	74.00%	78.90%
Expected dividend yield	0.00%	0.00%
Expected term (in years)		5 years 4 months 24 days
Risk-free interest rate, Minimum	3.70%	1.60%
Risk-free interest rate, Maximum	4.30%	2.40%
Minimum
Fair Value Assumptions
Expected term (in years)	5 years 3 months 18 days
Maximum
Fair Value Assumptions
Expected term (in years)	5 years 4 months 24 days
2020 Employee Stock Purchase Plan
Fair Value Assumptions
Expected volatility, Minimum	86.40%	86.70%
Expected volatility, Maximum	99.70%	97.50%
Expected dividend yield	0.00%	0.00%
Risk-free interest rate, Minimum	4.50%	0.10%
Risk-free interest rate, Maximum	4.70%	0.50%
2020 Employee Stock Purchase Plan | Minimum
Fair Value Assumptions
Expected term (in years)	6 months	6 months
2020 Employee Stock Purchase Plan | Maximum
Fair Value Assumptions
Expected term (in years)	2 years	2 years