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Equity Incentive Plans and Stock-Based Compensation - 2020 Employee Stock Purchase Plan - Narrative (Details) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Jun. 30, 2020
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Total shares reserved for future issuance (in shares)   10,688,091   10,688,091   8,467,491
Total stock-based compensation expense   $ 4,808 $ 2,811 $ 11,743 $ 7,669  
2020 Employee Stock Purchase Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Total shares reserved for future issuance (in shares) 700,000 888,184   888,184    
Common stock shares outstanding percentage 1.00%          
Percentage of payroll deductions   15.00%   15.00%    
Employee stock purchase plan offering period       6 months    
Common stock fair market value percentage       85.00%    
Total stock-based compensation expense   $ 100 $ 100 $ 200 $ 500  
Number of common stock issued (in shares)       85,969