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Common Stock (Tables)
 6 Months Ended
Jun. 30, 2021
Equity [Abstract]  
Schedule of Shares Reserved for Future Issuance
Shares reserved for future issuance
As of
June 30,
2021
As of
December 31,
2020
Exercises of outstanding stock option awards3,842,588 2,993,855 
Shares of common stock available for future grants under the 2020 Equity Incentive Plan4,265,311 3,644,459 
Shares of common stock available for future issuance under the 2020 ESPP640,234 700,000 
Total shares reserved for future issuance8,748,133 7,338,314