Stockholders Equity - Schedule of Reserved Shares of Common Stock for Issuance (Details) - shares	Sep. 30, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	13,223,638	11,279,849
Unvested Restricted Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	3,126,635	3,410,979
Option To Purchase Common Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	6,028,476	3,972,909
Stock Available For Grant | 2020 Stock Option and Grant Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	4,068,527	3,895,961