Common Stock - Schedule of Shares Reserved for Future Issuance (Details) - shares	Sep. 30, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	10,688,091	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)	3,090,672	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)	888,184	613,098
Exercises of outstanding stock option awards
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	5,474,346	3,620,180
Restricted stock units
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	525,825	0
Performance Stock Units
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	709,064	0