Stock-Based Compensation - Restricted Stock Units (Details) $ / shares in Units, $ in Thousands	6 Months Ended
	Jun. 30, 2022 USD ($) $ / shares shares
Weighted-Average Grant Date Fair Value
Shares issued in settlement of the award | $	$ 192
Unrecognized compensation costs | $	$ 8,100
Weighted-average period	2 years 7 months 6 days
Restricted stock units
Weighted-Average Grant Date Fair Value
Exercise price | $ / shares	$ 0
Shares issued in settlement of the award | $	$ 0
Restricted stock units | Class A Common stock
Weighted-Average Grant Date Fair Value
Total fair value of the restricted stock units granted | $	$ 1,700
Restricted stock units | 2020 Plan
Number of Shares Underlying RSUs
Unvested at the beginning | shares	235,985
Granted | shares	586,083
Vested | shares	(19,347)
Forfeited | shares	(29,436)
Outstanding at the end | shares	773,285
Weighted-Average Grant Date Fair Value
Unvested at the beginning (in dollars per share) | $ / shares	$ 15.98
Granted (in dollars per share) | $ / shares	4.08
Vested (in dollars per share) | $ / shares	14.51
Forfeited (in dollars per share) | $ / shares	6.05
Unvested at the ending (in dollars per share) | $ / shares	$ 7.38
Total fair value of the restricted stock units granted | $	$ 2,400
Unrecognized compensation costs | $	$ 3,600
Weighted-average period	2 years
Restricted stock units | 2020 Plan | Dr. Mills
Weighted-Average Grant Date Fair Value
Total fair value of the restricted stock units granted | $	$ 700
Restricted stock units | 2020 Plan | Scenario, Closing Price of Common Stock Exceeds 10 per Share
Number of Shares Underlying RSUs
Granted | shares	199,388
Restricted stock units | 2020 Plan | Scenario, Closing Price of Common Stock Exceeds 10 per Share | Class A Common stock
Weighted-Average Grant Date Fair Value
Share Price | $ / shares	$ 10
Period over which price must exceed $10 for awards to vest	30 days
Restricted stock units | 2020 Plan | Scenario, Closing Price of Common Stock Exceeds 10 per Share | Dr. Mills
Number of Shares Underlying RSUs
Granted | shares	89,894
Restricted stock units | 2020 Plan | Minimum
Weighted-Average Grant Date Fair Value
Vesting period	2 years
Restricted stock units | 2020 Plan | Minimum | Class A Common stock
Weighted-Average Grant Date Fair Value
Vesting period	6 months
Restricted stock units | 2020 Plan | Maximum
Weighted-Average Grant Date Fair Value
Vesting period	3 years
Restricted stock units | 2020 Plan | Maximum | Class A Common stock
Weighted-Average Grant Date Fair Value
Vesting period	4 years