Capital Structure - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Shares reserved for future issuance	7,838,681	5,745,648
Employee Stock Purchase Plan, Available for Future Issuance
Class Of Stock [Line Items]
Shares reserved for future issuance	642,573	433,200
Stock Options, Issued and Outstanding
Class Of Stock [Line Items]
Shares reserved for future issuance	3,954,980	2,215,942
Restricted and Performance Stock Units, Issued and Outstanding [Member]
Class Of Stock [Line Items]
Shares reserved for future issuance	425,853	460,000
Shares available for future issuance under 2020 Equity Incentive Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	2,815,275	2,636,506