Common Stock - Schedule of Shares Reserved for Future Issuance (Details) - shares	Mar. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	10,557,484	8,467,491
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)	4,437,890	4,234,213
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)	922,725	613,098
Exercises of outstanding stock option awards
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	5,196,869	3,620,180