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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 12 Months Ended
Jan. 01, 2022
Oct. 21, 2020
Apr. 30, 2016
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2015
Share-based Payment Arrangement            
Aggregate intrinsic value of stock options exercised       $ 5.3 $ 3.5  
Weighted average grant-date fair value of stock options granted (in dollars per share)       $ 10.40 $ 6.01  
Aggregate fair value of restricted stock that vested         $ 4.8  
Unrecognized compensation costs related to unvested options and unvested restricted stock       $ 20.8    
Weighted average period of unrecognized compensation costs       2 years 8 months 12 days    
Subsequent Event            
Share-based Payment Arrangement            
Number of shares authorized (in shares) 780,891          
Restricted Stock            
Share-based Payment Arrangement            
Vesting period (years)     5 years      
Sale of restricted common stock to scientific founders (in shares)           4,459,459
2020 Incentive Plan            
Share-based Payment Arrangement            
Number of shares authorized (in shares)       2,200,000    
Common stock shares available for grant (in shares)       2,271,847    
Percentage of automatic annual increase in number of shares       4.00%    
Vesting period (years)       4 years    
Stock option expiry period (years)       10 years    
2020 Incentive Plan | Subsequent Event            
Share-based Payment Arrangement            
Number of additional shares authorized (in shares) 1,651,989          
2016 Incentive Plan            
Share-based Payment Arrangement            
Number of shares authorized (in shares)       5,078,295    
2020 Employee Stock Purchase Plan            
Share-based Payment Arrangement            
Number of shares authorized (in shares)   360,000        
Percentage of automatic annual increase in number of shares   1.00%        
Maximum aggregate number of shares added to plan (in shares)       3,220,520    
2020 Employee Stock Purchase Plan | Subsequent Event            
Share-based Payment Arrangement            
Number of additional shares authorized (in shares) 367,894