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Stock-Based Compensation - Additional Information (Details)
$ / shares in Units, $ in Thousands
12 Months Ended
Nov. 12, 2021
USD ($)
Individual
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Jan. 01, 2022
shares
Oct. 12, 2020
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based awards, vesting conditions   As of December 31, 2021, the Company has granted service-based awards, which vest over a defined period of service, and performance-based and market-based awards, which vest upon the achievement of defined conditions. Service-based awards generally vest over a four-year period, with the first 25% vesting following twelve months of continued employment or service, and the remainder vesting in twelve quarterly installments over the following three years.      
Share-based awards, vesting period   4 years      
Shares of common stock reserved for future issuance | shares   6,336,842 5,832,209   834,720
Annual increased percentage on outstanding common stock reserved         0.50%
Number of shares available for future issuance | shares         208,680
Stock option, expiration period   10 years      
Treasury stock, shares | shares   0      
Weighted average grant date fair value per share of options granted | $ / shares   $ 14.33 $ 8.30    
Aggregate intrinsic value of stock options exercised   $ 5,200 $ 400    
Shares granted | shares   1,449,400      
Stock-based compensation expense   $ 10,677 $ 7,080    
Total unrecognized compensation expense related to option awards   $ 20,300      
Weighted-average period of unrecognized compensation expense related to option awards   2 years 8 months 8 days      
Lonza          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock-based compensation expense   $ 500      
Number of affected granted employees | Individual 12        
Stock-based compensation expense recognized $ 400        
Additional compensation cost 100        
Derecognition gain on assets $ 500        
Performance-Based Awards          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares granted | shares   0 0    
Stock-based compensation expense     $ 300    
2020 Stock Option and Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares of common stock reserved for future issuance | shares   1,573,353     1,043,402
2020 Stock Option and Incentive Plan | Subsequent Event          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Additional shares of common stock reserved for future issuance | shares       1,119,192  
2020 Stock Option and Incentive Plan | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Annual increased percentage on outstanding common stock reserved         5.00%
Tranche 1          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based awards, vesting period   12 months      
Share-based awards, vesting percentage   25.00%      
Tranche 2          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based awards, vesting period   3 years      
Share-based awards, vesting description   twelve quarterly installments