Equity Incentive Plans and Stock-Based Compensation - 2020 Employee Stock Purchase Plan - Summary of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for 2020 Employee Stock Purchase Plan (Details) - 2020 Employee Stock Purchase Plan	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate, minimum	0.60%	0.06%
Risk-free interest rate, maximum	3.34%	0.07%
Expected term of options (in years)	6 months	6 months
Expected volatility, minimum	63.17%	67.16%
Expected volatility, maximum	82.02%	89.51%
Expected dividend	0.00%	0.00%