Common Stock - Schedule of Common Share Reserved for Future Issuance (Details) - shares	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Common stock reserved	8,357,910	7,123,787
2020 Equity Incentive Plan
Class Of Stock [Line Items]
Common stock reserved	2,112,039	2,690,097
2020 Employee Stock Share Purchase Plan
Class Of Stock [Line Items]
Common stock reserved	413,273	498,747	252,337
Options Issued and Outstanding
Class Of Stock [Line Items]
Common stock reserved	5,778,929	3,881,274
Common Stock Warrants
Class Of Stock [Line Items]
Common stock reserved	53,669	53,669