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Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
Jul. 02, 2020
Jul. 31, 2020
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Reserved shares of common stock for issuance     11,554,677   11,554,677   44,793,329
Stock-based compensation expense     $ 3,860,000 $ 596,000 $ 4,998,000 $ 2,268,000  
Number of incentive stock option granted         3,616,945    
Weighted average grant-date fair value of stock options granted     $ 13.01   $ 12.86    
Common stock, par value     $ 0.0001   $ 0.0001   $ 0.0001
Restricted Common Stock              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares granted         171,204 2,191,272  
Unrecognized stock-based compensation cost     $ 7,200,000   $ 7,200,000    
Weighted average period of cost expected to be recognized         2 years 9 months 18 days    
Stock Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Weighted average period of cost expected to be recognized         3 years 8 months 19 days    
Number of incentive stock option granted         3,616,945 0  
Stock options vesting period         4 years    
Stock options contractual term         10 years    
Unrecognized stock-based compensation expenses     $ 44,300,000   $ 44,300,000    
2018 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Common stock shares granted     6,715,415   6,715,415    
Number of shares of common stock issuable upon exercise of outstanding options     98,643   98,643    
Reserved shares of common stock for issuance     0   0    
Stock-based compensation expense         $ 1,600    
2020 Stock Option and Grant Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Reserved shares of common stock for issuance     4,338,284   4,338,284    
Common stock authorized for issuance 8,008,734            
Cumulative increase in number shares reserved for issuance, percentage 5.00%            
Common stock issuable upon exercise of outstanding options         3,563,262    
2020 Stock Option and Grant Plan | Restricted Common Stock              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares granted         107,188    
2020 ESPP              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Reserved shares of common stock for issuance   611,354          
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