Equity-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Aug. 20, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 11,181	$ 9,622	$ 20,565	$ 17,495
Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	5,704	4,765	10,432	8,670
General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	5,477	4,857	10,133	8,825
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Intrinsic value of stock options exercised	$ 1,400	$ 2,400	$ 6,900	$ 8,700
Weighted-average fair value of options granted	$ 17.5	$ 13.48	$ 18.45	$ 21.08
Unrecognized stock-based compensation expense	$ 75,200		$ 75,200
Unrecognized compensation cost, recognition period			2 years 3 months 18 days
Equity-based compensation expense	10,086	$ 9,072	$ 18,619	$ 16,673
Employee Stock Option | Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	4,976	4,346	9,160	8,035
Employee Stock Option | General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 5,110	$ 4,726	$ 9,459	$ 8,638
Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost, recognition period			2 years 8 months 12 days
Granted	47,697	178,925	263,986	276,902
Unrecognized stock-based compensation expense	$ 10,600		$ 10,600
Equity-based compensation expense	900	$ 400	1,500	$ 500
Restricted Stock | Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	600	300	1,000	400
Restricted Stock | General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 300	$ 100	$ 500	$ 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	3,831,967		3,831,967
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	1,607,727		1,607,727
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			263,986