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Share-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
6 Months Ended
Jun. 30, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Weighted average grant date fair value of stock option $ 8.49  
Unrecognized compensation cost $ 44.5  
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period 2 years 7 months 6 days  
Restricted Stock    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Shares subject to repurchase 2,475 16,181
Restricted Stock Units    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Unrecognized compensation cost $ 3.9  
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period 3 years 8 months 8 days  
2020 Employee Stock Purchase Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of common stock available for issuance 952,524  
Maximum percentage of employee compensation eligible for plan 15.00%  
Offering period 6 months  
Commons stock purchase price as percentage of fair value 85.00%  
Shares issued 0  
2020 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of common stock authorized for issuance 5,945,002  
Increase in share limit as percentage of outstanding shares of common stock on last trading day in prior year 5.00%