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Equity-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Aug. 20, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 9,385	$ 7,873
Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	4,729	3,906
General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	4,656	3,967
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Intrinsic value of stock options exercised	$ 5,500	$ 6,200
Weighted-average fair value of options granted	$ 18.67	$ 22.96
Unrecognized stock-based compensation expense	$ 82,500
Unrecognized compensation cost, recognition period	2 years 4 months 24 days
Equity-based compensation expense	$ 8,533	$ 7,601
Stock Options \| Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	4,184	3,689
Stock Options \| General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 4,349	$ 3,912
Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost, recognition period	2 years 9 months 18 days
Granted	216,289	97,974
Unrecognized stock-based compensation expense	$ 10,900
Equity-based compensation expense	600
Restricted Stock \| Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	400
Restricted Stock \| General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 200	$ 100
2020 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized for issuance under plan			4,457,370
Maximum number of shares to be issued, percentage	4.00%
Shares remaining available for future grants	4,003,824
2020 ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized for issuance under plan			445,653
Shares remaining available for future grants	1,647,150
Share-based compensation, description	The 2020 ESPP initially reserves and authorizes the issuance of up to a total of 445,653 shares of common stock to participating employees. The 2020 ESPP provides that the number of shares reserved and available for issuance will automatically increase on January 1, 2021 and each January 1 thereafter through January 1, 2030, by the lesser of (i) 438,898 shares of common stock, (ii) 1% of the Company’s outstanding number of shares of common stock on the immediately preceding December 31 or (iii) such lesser number of shares of common stock as determined by the administrator of the 2020 ESPP
2020 ESPP \| Lesser of Potential Outcome 1
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum number of shares to be issued, percentage	1.00%
Number of additional shares authorized	438,898
2018 Plan \| Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Granted	216,289