Stockholders Equity - Schedule of Reserved Shares of Common Stock for Issuance (Details) - shares	Dec. 31, 2022	Dec. 31, 2021	Jul. 31, 2020
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	14,869,885	13,445,714
2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	454,302		611,354
Unvested Restricted Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	2,239,106	2,866,909
Option To Purchase Common Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	7,922,797	6,155,055
Stock Available For Grant | 2020 Stock Option and Grant Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	4,253,680	3,812,396
Stock Available For Issuance | 2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	454,302	611,354