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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 9 Months Ended
Jun. 11, 2020
Sep. 30, 2020
Jun. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Early exercised stock options   22,700     22,700   86,409
Options granted         66,982    
Exercise of stock options (in shares)   67,792   279,947 263,626 280,836  
Weighted-average price per share   $ 1.60   $ 1.55 $ 1.86 $ 1.55  
Weighted-average grant date fair value of options granted   $ 29.83   $ 2.31 $ 8.17 $ 1.51  
Intrinsic value of the stock options exercised   $ 2.5   $ 0.2 $ 5.1 $ 0.2  
Performance-based Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Stock-based compensation expense     $ 0.3        
Performance-based Awards | IPO              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares vested     362,935        
Other Liabilities              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Remaining liabilities related to early exercised shares             $ 0.2
Other Liabilities | Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Remaining liabilities related to early exercised shares   $ 0.1     $ 0.1    
2020 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Shares reserved for issuance 10,150,000            
Term of plan 10 years            
Percentage of outstanding number of shares 5.00%            
Aggregate number of shares available for issuance   4,839,649     4,839,649    
Number of shares outstanding   218,500     218,500    
2014 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares outstanding   4,809,187     4,809,187    
2020 Employee Stock Purchase Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Shares reserved for issuance 650,000            
Term of plan 10 years            
Percentage of outstanding number of shares 1.00%            
Aggregate number of shares available for issuance   650,000     650,000    
Percentage of payroll deductions of eligible compensation 15.00%