Subsequent Events - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions		1 Months Ended	9 Months Ended
	Nov. 18, 2020	Oct. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2018
Subsequent Event [Line Items]
Shares reserved for future issuance			17,944,167			5,189,621
Equity incentive plans terms			Following the effectiveness of the 2020 Plan, no further grants will be made under the 2016 Plan; however, shares subject to awards granted under the 2016 Plan will continue to be governed by the 2016 Plan. Any shares subject to outstanding stock options or other stock awards that were granted under the 2016 Plan that terminate or expire prior to exercise or settlement; are settled in cash; are forfeited or repurchased because of the failure to vest; or are reacquired or withheld to satisfy a tax withholding obligation or the purchase or exercise price in accordance with the terms of the 2016 Plan will also be reserved for issuance under the 2020 Plan.
Common stock, shares outstanding			822,022			764,408
Common stock, shares authorized			130,518,922			41,000,000
Redeemable Convertible Preferred Stock
Subsequent Event [Line Items]
Redeemable convertible preferred stock converted into common stock			15,492,019
Common Stock
Subsequent Event [Line Items]
Common stock, shares outstanding			822,022	771,574	764,408	764,408	764,408	764,408	764,408	764,408
2020 Equity Incentive Plan
Subsequent Event [Line Items]
Number of shares of common stock available for issuance			237,585
Subsequent Event
Subsequent Event [Line Items]
Warrants to purchase of common stock	49,609
Subsequent Event | Redeemable Convertible Preferred Stock
Subsequent Event [Line Items]
Redeemable convertible preferred stock converted into common stock		15,492,019
Subsequent Event | Initial Public Offering
Subsequent Event [Line Items]
Offering price		$ 15.00
Net proceeds of common stock		$ 96.3
Underwriting discounts and commissions		$ 7.2
Common stock, shares outstanding		23,214,041
Common stock, shares authorized		200,000,000
Undesignated preferred stock, shares authorized		10,000,000
Subsequent Event | Initial Public Offering | Redeemable Convertible Preferred Stock
Subsequent Event [Line Items]
Redeemable convertible preferred stock, shares outstanding		101,333,330
Subsequent Event | Common Stock | Warrant
Subsequent Event [Line Items]
Net exercised of common stock	46,358
Subsequent Event | Common Stock | Initial Public Offering
Subsequent Event [Line Items]
Issuance of stock		6,900,000
Redeemable convertible preferred stock converted into common stock		15,492,019
Subsequent Event | Common Stock | Overallotment Option
Subsequent Event [Line Items]
Issuance of stock		900,000
Subsequent Event | 2020 Equity Incentive Plan
Subsequent Event [Line Items]
Shares reserved for future issuance		2,647,684
Term of automatically increase in common stock available for issuance		10 years
Percentage of outstanding shares subject to automatic increase in common stock		5.00%
Equity incentive plans terms		In addition, the number of shares of common stock available for issuance under the 2020 Plan will be automatically increased on the first day of each calendar year during the ten-year term of the 2020 Plan, beginning with January 1, 2021 and ending with January 1, 2030, by an amount equal to 5% of the outstanding number of shares of the Company’s common stock on December 31st of the preceding calendar year or such lesser amount as determined by the Company’s Board of Directors.
Subsequent Event | 2020 Equity Incentive Plan | Common Stock
Subsequent Event [Line Items]
Shares reserved for future issuance		2,410,133
Subsequent Event | 2020 Employee Stock Purchase Plan
Subsequent Event [Line Items]
Shares reserved for future issuance		220,640
Term of automatically increase in common stock available for issuance		10 years
Percentage of outstanding shares subject to automatic increase in common stock		1.00%
Equity incentive plans terms		In addition, the number of shares of common stock available for issuance under the ESPP will be automatically increased on the first day of each calendar year during the first ten-years of the term of the ESPP, beginning with January 1, 2021 and ending with January 1, 2030, by an amount equal to the lessor of (i) 1% of the outstanding number of shares of the Company’s common stock on December 31st of the preceding calendar year, (ii) 441,280 shares of common stock or (iii) such lesser amount as determined by the Board of Directors.
Number of shares of common stock available for issuance		441,280