Equity Incentive Plans and Stock-Based Compensation - 2020 Employee Stock Purchase Plan - Summary of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for 2020 Employee Stock Purchase Plan (Details)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected dividend yield	0.00%	0.00%
Shares of Common Stock Available for Future Issuance under the 2020 ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate	0.11%
Expected term of options (in years)	6 months 29 days
Expected stock price volatility	83.72%