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Stockholder's Equity - Schedule of Reserved Common Stock for Warrants to Purchase Common Stock and Future Issuance (Details)
Sep. 30, 2021
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Schedule Of Capitalization [Line Items]  
Common Stock, Capital Stock Reserved for Future Issuance 10,183,274
2019 Stock Incentive Plan Exercised [Member]  
Schedule Of Capitalization [Line Items]  
Common Stock, Capital Stock Reserved for Future Issuance 3,898,584
2020 Stock Option and Incentive Plan Exercised [Member]  
Schedule Of Capitalization [Line Items]  
Common Stock, Capital Stock Reserved for Future Issuance 2,262,682
2020 Stock Option and Incentive Plan Restricted [Member]  
Schedule Of Capitalization [Line Items]  
Common Stock, Capital Stock Reserved for Future Issuance 800,209
2020 Stock Option and Incentive Plan Future Issuance [Member]  
Schedule Of Capitalization [Line Items]  
Common Stock, Capital Stock Reserved for Future Issuance 2,381,767
2020 Employee Stock Option Purchase Plan Future Issuance [Member]  
Schedule Of Capitalization [Line Items]  
Common Stock, Capital Stock Reserved for Future Issuance 840,032