Share-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	3 Months Ended						9 Months Ended
	Jun. 30, 2020	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued		41,961,510						41,961,510		41,850,162
Weighted average exercise price, Granted								$ 14.29
Number of options exercised								73,433
Number of shares, Granted								3,213,667
Options, weighted-average exercise price								$ 3.85
Aggregate proceeds from exercise of options								$ 283	$ 712
Unrecognized share-based compensation expense related to unvested stock options		$ 46,300						$ 46,300
Unrecognized share-based compensation expense related to unvested stock options, weighted average period								2 years
Decrease in additional paid-in capital as exercised options credited to common shares								$ 200
Common Shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of options exercised		16,930	44,268	12,235	14,489	115,497	87,786
2020 Employee Share Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance		1,066,673						1,066,673
Annual increases in number of shares available for issuance as percentage of outstanding shares common stock on final day of preceding calendar year	1.00%
Annual increases in number of shares available for issuance maximum number of common stock issued	3,300,000
Purchase price of shares as percentage of fair market value of common stock on date of purchase	85.00%
Common stock shares issued	0	37,915						37,915
Shares issued, price per share		$ 11.43						$ 11.43
Cash received from purchases under ESPP								$ 400
2020 Employee Share Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance	327,000
Option Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance	298,605
Option Plan | Common Shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares ceased granting	4,074,135
2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance		7,923,715						7,923,715
2020 Equity Incentive Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance	3,807,448
Annual increases in number of shares available for issuance as percentage of outstanding shares common stock on final day of preceding calendar year	5.00%
Shares of common stock initially reserved for future issuance	3,600,000