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Stock-Based Compensation - Additional Information (Details)
3 Months Ended 12 Months Ended
Mar. 31, 2022
USD ($)
Plan
$ / shares
shares
Mar. 31, 2021
USD ($)
$ / shares
Dec. 31, 2021
$ / shares
Jan. 01, 2022
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of equity incentive plans | Plan 2      
Aggregate intrinsic value of outstanding options $ 11,300,000      
Aggregate intrinsic value of exercisable options 6,700,000      
Stock-based compensation expense $ 6,829,000 $ 3,886,000    
weighted-average grant date fair value | $ / shares $ 18.32      
Stock Options        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Weighted-average grant date fair value of options granted | $ / shares $ 7.62 $ 68.39    
Aggregate intrinsic value of options exercised $ 600,000      
Stock-based compensation expense 6,500,000 $ 3,700,000    
Total unrecognized compensation expense related to unvested stock option awards $ 72,200,000      
Total unrecognized compensation expense, weighted-average period 3 years 3 days      
Restricted Stock Awards        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Award vesting period 4 years      
Stock-based compensation expense $ 200,000 $ 200,000    
Total unrecognized compensation expense, weighted-average period 1 year 7 months 17 days      
Share-based payment arrangement, nonvested award, unrecognized expense $ 1,100,000      
weighted-average grant date fair value | $ / shares $ 2.33   $ 2.29  
Unvested Restricted Stock Units        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Award vesting period     4 years  
Stock-based compensation expense $ 24,000      
Total unrecognized compensation expense, weighted-average period 3 years 6 months 3 days      
Share-based payment arrangement, nonvested award, unrecognized expense $ 300,000      
Number of shares, Outstanding | shares 20,000      
Number of shares, Granted | shares 0      
Number of shares, Forfeited | shares 0      
2020 Equity Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares available for future grants | shares 6,240,398      
Terms of award The Company’s stock options vest based on the terms in each award agreement, generally over four-year periods with 25% of options vesting after 1 year and then monthly thereafter, and have a term of ten years.      
Award term 10 years      
Percentage of shares outstanding used to calculate annual increase in number of shares that can be issued 5.00%      
2020 Employee Stock Purchase Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares available for future grants | shares 1,407,365      
Percentage of shares outstanding used to calculate annual increase in number of shares that can be issued 1.00%      
Stock-based compensation expense $ 100,000      
Number of shares authorized | shares       476,023
Eligible employees purchase common stock percentage of lower of fair market value 85.00%      
Participants accrue rights to purchase maximum common stock amount $ 25,000      
Maximum | 2020 Equity Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Award vesting period 4 years      
Maximum | 2020 Employee Stock Purchase Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Eligible employees contribution percentage 15.00%      
Minimum | 2020 Equity Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Award vesting period 1 year      
Vesting After One Year | Restricted Stock Awards        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Percentage of stock options vested 25.00%      
Vesting After One Year | Unvested Restricted Stock Units        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Percentage of stock options vested     25.00%  
Vesting After One Year | 2020 Equity Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Percentage of stock options vested 25.00%