Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock for issuance	18,539,531		18,539,531		14,869,885
Stock-based compensation expense	$ 10,468	$ 10,855	$ 30,785	$ 32,273
Restricted Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted			2,254,094
Unrecognized stock-based compensation cost	27,200		$ 27,200
Weighted average period of cost expected to be recognized			2 years 4 months 20 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 29 days
Weighted average grant-date fair value of stock options granted			$ 4.92	$ 5.62
Unrecognized stock-based compensation expenses	$ 43,800		$ 43,800
2018 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
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]
Common stock issuable upon exercise of outstanding options			10,381,270
2020 Stock Option and Grant Plan | Restricted Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted			5,330,610
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	4,178,462		4,178,462		4,253,680
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock for issuance	505,366		505,366
Purchase of common stock under the employee stock purchase plan			108,936
Share issued, average price per share	$ 2.89		$ 2.89
Cash received from purchases under the ESPP			$ 300	$ 200
Stock-based compensation expense			$ 300	$ 200