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Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Jan. 01, 2022
Jan. 01, 2021
Jul. 31, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2015
Apr. 01, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for future issuance       11,097,469        
Unvested early exercised options       0        
Stock-based compensation expenses       $ 23,839,000 $ 13,914,000 $ 5,436,000    
Total intrinsic value of options exercised       $ 1,700,000 $ 48,100,000 $ 4,400,000    
Weighted-average grant-date fair value per share       $ 7.88 $ 42.29 $ 7.74    
Unrecognized share-based compensation expense       $ 52,400,000        
Unrecognized share-based compensation expense, weighted-average period       2 years 6 months        
ESPP                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for future issuance     400,000 1,147,986        
Percentage of eligible compensation withheld     15.00%          
Share-based compensation, authorized amount     $ 25,000          
Share-based compensation, number of shares authorized     3,000          
Share-based Compensation, lower of closing price, percentage     85.00%          
Maximum percentage of additional shares reserved for future issuance       1.00%        
Number of additional shares reserved for future issuance 405,871 398,445            
Number of shares purchased       56,330        
Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Weighted-average grant-date fair value per share, restricted stock units granted       $ 13.55 $ 58.56      
Restricted stock units granted       904,750   0    
Unrecognized share-based compensation expense       $ 9,800,000        
Unrecognized share-based compensation expense, weighted-average period       3 years 2 months 12 days        
Maximum | ESPP                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of additional shares reserved for future issuance       800,000        
2015 Share Award Scheme | Maximum                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Share option granted during the period             2,143,117  
2020 Equity Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of permitted issuance of share option               4,379,139
2020 Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for future issuance     7,874,862          
Share options, maximum term       10 years        
Share options, service period       4 years        
Maximum percentage of additional shares reserved for future issuance       4.00%        
2020 Plan | Maximum                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of additional shares reserved for future issuance       4,000,000        
Stock Option Modification                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Stock-based compensation expenses       $ 0 $ 0 $ 1,700,000