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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended 9 Months Ended
Jan. 01, 2021
Jul. 02, 2020
Jul. 31, 2020
Sep. 30, 2021
Sep. 30, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Reserved shares of common stock for issuance       13,223,638 13,223,638 11,279,849
Weighted average grant-date fair value of stock options granted         $ 25.30  
Common stock, par value       $ 0.0001 $ 0.0001 $ 0.0001
Restricted Common Stock            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Awards forfeited or cancelled         94,709  
Number of shares granted         1,047,613  
Unrecognized stock-based compensation cost       $ 36.1 $ 36.1  
Weighted average period of cost expected to be recognized         3 years 1 month 24 days  
Stock Options            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Weighted average period of cost expected to be recognized         3 years 25 days  
Unrecognized stock-based compensation expenses       $ 81.7 $ 81.7  
2018 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Awards vesting period         4 years  
Awards contractual term         10 years  
Common stock shares granted       6,715,415 6,715,415  
Number of shares of common stock issuable upon exercise of outstanding options       64,042 64,042  
Awards forfeited or cancelled       20,128 30,280  
Reserved shares of common stock for issuance       0 0  
2020 Stock Option and Grant Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Awards vesting period   4 years        
Awards contractual term   10 years        
Common stock authorized for issuance   8,008,734        
Cumulative increase in number shares reserved for issuance, percentage   5.00%        
Shares added to number of available shares under plan 3,255,343          
Common stock issuable upon exercise of outstanding options         5,964,434  
2020 Stock Option and Grant Plan | Restricted Common Stock            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares granted         1,298,620  
2020 Stock Option and Grant Plan | Stock Available For Grant            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Reserved shares of common stock for issuance       4,068,527 4,068,527 3,895,961
2020 ESPP            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Reserved shares of common stock for issuance     611,354      
Cumulative increase in number shares reserved for issuance, percentage     1.00%      
Common stock, par value     $ 0.0001      
Annual increase in number of shares reserved for issuance     1,222,707