Stockholders Equity - Schedule of Reserved Shares of Common Stock for Issuance (Details) - shares	Sep. 30, 2022	Dec. 31, 2021	Jul. 31, 2020
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	15,335,180	13,445,714
2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	537,997		611,354
Option To Purchase Common Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	8,499,509	6,155,055
Unvested Restricted Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	2,746,971	2,866,909
Stock Available For Grant | 2020 Stock Option and Grant Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	3,550,703	3,812,396
Stock Available For Issuance | 2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	537,997	611,354