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Stock-based Compensation - Additional Information (Details) - shares
1 Months Ended 3 Months Ended 6 Months Ended 12 Months Ended
Dec. 31, 2020
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Mar. 28, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares reserved for issuance   8,607,659   8,607,659   7,123,787  
Number of shares available for grant   3,070,925   3,070,925   2,690,097  
Number of options outstanding   5,020,870   5,020,870   3,881,274  
Expected dividend yield   0.00% 0.00% 0.00% 0.00%    
2020 Equity Incentive Award Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares reserved for issuance 2,606,546 3,070,925   3,070,925   2,690,097  
Number of shares authorized and reserved for issuance   1,611,226   1,611,226      
Percentage of aggregate number of shares of common stock outstanding reserved for future issuance       5.00%   5.00%  
Number of shares available for grant   2,902,219   2,902,219      
2020 Equity Incentive Award Plan | Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares available for grant   18,000,000   18,000,000   18,000,000  
Options exercisable period       10 years   10 years  
2015 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Options exercisable period       10 years      
Number of options outstanding   2,371,439   2,371,439      
Minimum percentage of outstanding shares held by individual       10.00%      
Exercise price as percentage of fair market value, minimum       110.00%      
2020 ESPP              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares authorized and reserved for issuance 252,337           25,000
Percentage of aggregate number of shares of common stock outstanding reserved for future issuance       1.00%      
Employee purchase price of common stock as percentage of fair market value 85.00%            
Common stock overlapping offering period 24 months            
Duration of purchase period 6 months            
Percentage of maximum contributions of employee's eligible compensation 15.00%            
2020 ESPP | Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares available for grant   15,000,000   15,000,000