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Stock-Based Compensation - Additional Information (Details)
3 Months Ended 6 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
Jun. 30, 2021
USD ($)
Jun. 30, 2022
USD ($)
Plan
$ / shares
shares
Jun. 30, 2021
USD ($)
$ / shares
Jan. 01, 2022
shares
Dec. 31, 2021
$ / 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 $ 7,700,000   $ 7,700,000      
Aggregate intrinsic value of exercisable options 4,900,000   4,900,000      
Stock-based compensation expense 6,028,000 $ 4,237,000 $ 12,857,000 $ 8,123,000    
Stock Options            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Weighted-average grant date fair value of options granted | $ / shares     $ 6.00 $ 38.31    
Aggregate intrinsic value of options exercised     $ 700,000      
Stock-based compensation expense 5,700,000 4,200,000 12,200,000 $ 7,700,000    
Total unrecognized compensation expense related to unvested stock option awards 61,800,000   $ 61,800,000      
Total unrecognized compensation expense, weighted-average period     2 years 9 months 14 days      
Unvested 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 $ 400,000 400,000    
Total unrecognized compensation expense, weighted-average period     1 year 5 months 12 days      
Share-based payment arrangement, nonvested award, unrecognized expense $ 900,000   $ 900,000      
weighted-average grant date fair value | $ / shares $ 2.58   $ 2.58     $ 2.29
Number of shares, Forfeited | shares     23,416      
Restricted Stock Units (RSUs)            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Award vesting period     4 years      
Stock-based compensation expense $ 58,000   $ 82,000      
Total unrecognized compensation expense, weighted-average period     3 years 7 months 9 days      
Share-based payment arrangement, nonvested award, unrecognized expense $ 1,000,000.0   $ 1,000,000.0      
weighted-average grant date fair value | $ / shares $ 6.44   $ 6.44     $ 18.32
Number of shares, Granted | shares     150,000      
2020 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares available for future grants | shares 5,708,289   5,708,289      
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 1,339,285   1,339,285      
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 $ 0   $ 0    
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 | Unvested 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 | Restricted Stock Units (RSUs)            
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%