Capital Structure - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Mar. 31, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Shares reserved for future issuance	8,015,745	5,745,648
Employee Stock Purchase Plan, Available for Future Issuance
Class Of Stock [Line Items]
Shares reserved for future issuance	668,118	433,200
Stock Options, Issued and Outstanding
Class Of Stock [Line Items]
Shares reserved for future issuance	3,116,334	2,215,942
Restricted and Performance Stock Units, Issued and Outstanding [Member]
Class Of Stock [Line Items]
Shares reserved for future issuance	528,200	460,000
Shares available for future issuance under 2020 Equity Incentive Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	3,703,093	2,636,506