Common Stock - Schedule of Shares Reserved for Future Issuance (Details) - shares	Mar. 31, 2021	Dec. 31, 2020
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	8,908,566	7,338,314
Shares of common stock available for future grants under the 2020 Equity Incentive Plan
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	4,340,045	3,644,459
Shares of common stock available for future issuance under the 2020 ESPP
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	640,234	700,000
Exercises of outstanding stock option awards
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	3,928,287	2,993,855