Common Stock - Schedule of Shares Reserved for Future Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	8,467,491	7,338,314
2020 Equity Incentive Plan
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	4,234,213	3,644,459
Shares of common stock available for future issuance under the 2020 Employee Stock Purchase Plan
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	613,098	700,000
Outstanding stock option awards
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	3,620,180	2,993,855