Stockholders Equity - Schedule of Reserved Shares of Common Stock for Issuance (Details) - shares	Mar. 31, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	19,080,650	14,869,885
2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	614,302
Option To Purchase Common Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	10,753,342	7,922,797
Unvested Restricted Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	3,675,716	2,239,106
Stock Available For Grant | 2020 Stock Option and Grant Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	4,037,290	4,253,680
Stock Available For Issuance | 2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	614,302	454,302