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Common Stock (Tables)
 9 Months Ended
Sep. 30, 2022
Equity [Abstract]  
Schedule of Shares Reserved for Future Issuance
Shares reserved for future issuance
As of
September 30,
2022
As of
December 31,
2021
Exercises of outstanding stock option awards5,474,346 3,620,180 
Vesting of RSUs525,825 — 
Vesting of PSUs709,064 — 
Shares of common stock available for future grants under the 2020 Equity Incentive Plan3,090,672 4,234,213 
Shares of common stock available for future issuance under the 2020 ESPP888,184 613,098 
Total shares reserved for future issuance10,688,091 8,467,491