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Common Stock (Tables)
 3 Months Ended
Mar. 31, 2022
Equity [Abstract]  
Schedule of Shares Reserved for Future Issuance
Shares reserved for future issuance
As of
March 31,
2022
As of
December 31,
2021
Exercises of outstanding stock option awards5,196,869 3,620,180 
Shares of common stock available for future grants under the 2020 Equity Incentive Plan4,437,890 4,234,213 
Shares of common stock available for future issuance under the 2020 ESPP922,725 613,098 
Total shares reserved for future issuance10,557,484 8,467,491