Nature of Business and Basis of Presentation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands						1 Months Ended	12 Months Ended
	Nov. 09, 2020	Mar. 12, 2020	Apr. 30, 2019	Apr. 12, 2019	Apr. 02, 2018	Nov. 09, 2020	Dec. 31, 2020	Dec. 31, 2019
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Conversion of convertible preferred stock into common stock upon initial public offering, Shares					24,168,656
Common Stock, capacity terminated			$ 76,800
Proceeds from issuance of common stock in follow-on public offering, net of discounts and issuance costs								$ 134,524
Net loss							$ 128,694	103,916
Accumulated deficit							328,368	$ 199,674
Initial Public Offering
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares					10,350,000
Common stock at a public offering price					$ 16.00
Net proceeds from initial public offering after underwriting discounts and commissions and offering expenses					$ 150,800
Follow On Offering | Common Stock
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares				5,555,556				6,388,889
Shares issued price per share				$ 22.50
Net proceeds after deducting underwriting discounts and commissions and offering expenses				$ 116,900
Underwriters Option | Common Stock
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares				833,333
Shares issued price per share				$ 22.50
Net proceeds after deducting underwriting discounts and commissions and offering expenses				$ 17,600
ATM
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Proceeds through future financings							$ 150,000
ATM | Maximum
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Proceeds through future financings		$ 150,000	$ 100,000
ATM | Common Stock
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares							0	1,105,000
Private Placement
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares	5,000,000					5,000,000
Shares issued price per share	$ 12.00					$ 12.00
Proceeds from issuance of common stock in follow-on public offering, net of discounts and issuance costs	$ 60,000					$ 60,000
Private Placement | Common Stock
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares							5,000,000