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Percentage of maximum discount price on purchase of shares of common stock.

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Percentage of maximum payroll deductions of base salary or wages.

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Share based compensation arrangement by share based payment award common stock issuable upon exercise of outstanding options.

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Aggregate number of common shares reserved for future issuance.

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Face amount or stated value per share of common stock.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Amount of expense for salary and wage arising from service rendered by nonofficer and officer employees. Excludes allocated cost, labor-related nonsalary expense, and direct and overhead labor cost included in cost of good and service sold.

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Amount of consideration received by subsidiary or equity investee in exchange for shares of stock issued or sold. Includes amount of cash received, fair value of noncash assets received, and fair value of liabilities assumed by the investor.

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Per share amount received by subsidiary or equity investee for each share of common stock issued or sold in the stock transaction.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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Number of additional shares authorized for issuance under share-based payment arrangement.

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Maximum number of shares that may be issued in accordance with the plan as a proportion of outstanding capital stock.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of shares issued during the period as a result of an employee stock purchase plan.

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Stock-Based Compensation - Additional Information (Details) - USD ($)			1 Months Ended	3 Months Ended		6 Months Ended
	Jan. 01, 2022	Jul. 02, 2020	Jul. 31, 2020	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock for issuance				15,729,091		15,729,091		13,445,714
Weighted average grant-date fair value of stock options granted						$ 6.33
Common stock, par value				$ 0.0001		$ 0.0001		$ 0.0001
Share based compensation expense				$ 10,951,000	$ 9,726,000	$ 21,418,000	$ 17,829,000
Restricted Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted						887,762
Unrecognized stock-based compensation cost				33,000,000.0		$ 33,000,000.0
Weighted average period of cost expected to be recognized						2 years 9 months 25 days
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average period of cost expected to be recognized						2 years 7 months 9 days
Unrecognized stock-based compensation expenses				$ 69,700,000		$ 69,700,000
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
Reserved shares of common stock for issuance				0		0
2018 Equity Incentive Plan \| Restricted Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted						6,616,772
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	3,528,817
Common stock issuable upon exercise of outstanding options						7,894,302
2020 Stock Option and Grant Plan \| Restricted Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted						2,331,282
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				4,763,639		4,763,639		3,812,396
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock for issuance			611,354	537,997		537,997
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
Percentage of payroll deductions of base salary or wages			15.00%
Percentage of maximum discount on purchase of shares of common stock			15.00%
Offering period, description						(i) on the first trading day of the offering period or (ii) the last day of any offering period. The Company utilizes the Black Scholes option pricing model to compute the fair market value of the shares and compensation expense is recognized over the offering period. The first ESPP offering period was shortened in duration to three months and commenced on April 1, 2022 and ended on June 30, 2022. New six-month offering periods will commence each January 1 and July 1 thereafter during the term of the plan, with the administrator having the right to establish different offering periods.
Purchase of common stock under the employee stock purchase plan				73,357		73,357
Share based compensation expense				$ 100,000		$ 100,000
Cash received from purchases under the ESPP				$ 200,000		$ 200,000
Share issued, average price per share				$ 3.32		$ 3.32
2020 Employee Stock Purchase Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Base salary or wages			$ 25,000