Stockholders' Equity (Deficit) - Additional Information (Details) - USD ($)			1 Months Ended			12 Months Ended
	Jun. 16, 2020	Apr. 01, 2019	Jun. 30, 2020	Jan. 31, 2020	Nov. 30, 2019	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Jan. 31, 2013
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares authorized	400,000,000					400,000,000	52,042,000
Preferred stock undesignated shares authorized	40,000,000					40,000,000	0
Common stock par value per share	$ 0.0001					$ 0.0001	$ 0.0001
Preferred stock par value per share	$ 0.0001					$ 0.0001	$ 0.0001
Reclassified accumulated deficit from predecessor deficit to additional paid in capital		$ 44,100,000
Convertible preferred stock, issued						0	37,267,000
Proceeds from issuance of Series C convertible preferred stock, net of issuance costs						$ 2,200,000	$ 72,623,000	$ 0
Issuance costs						$ 24,026,000	$ 0	0
Shares of common stock initially reserved for issuance						6,936,000	20,951,000
Total intrinsic value of options exercised						$ 500,000	$ 7,000	$ 0
Weighted-average grant date fair value of options granted						$ 11.63	$ 3.46	$ 0.30
Stock options exercised were unvested						69,359	194,729
Expected dividend yield						0.00%	0.00%	0.00%
Time-based Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost						$ 27,200,000
Weighted-average period of unrecognized compensation cost						3 years 2 months 12 days
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period						4 years
Expected term (in years)						6 years 1 month 6 days	6 years 1 month 6 days	6 years 1 month 6 days
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period						2 years
Expected term (in years)						5 years 4 months 24 days	2 years	2 years
2013 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Units initially reserved for issuance									2,127,013
Increased to number of shares reserved under plan									4,771,615
2013 Equity Incentive Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period						10 years
2020 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock initially reserved for issuance			3,900,000
Percentage of shares of common stock outstanding on final day of immediately preceding calendar year			5.00%
Number of remaining shares available for issuance						2,851,824
2020 Incentive Award Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period						10 years
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock initially reserved for issuance			325,000
Participant maximum contribution as percentage of eligible compensation			15.00%
Percentage of purchase price of shares of lower of fair market value			85.00%
Shares issued under ESPP						28,979
Expected term (in years)						6 months
Expected dividend yield						0.00%
Unrecognized compensation cost						$ 200,000
Weighted-average period of unrecognized compensation cost						6 months
Employee Stock Purchase Plan | Accounts Payable and Accrued Liabilities
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding liability						$ 35,000
Series A Convertible Preferred Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred unit converted into convertible preferred stock		1
Series B Convertible Preferred Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred unit converted into convertible preferred stock		1
Series C Convertible Preferred Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Convertible preferred stock, issued				537,232	17,915,525
Stock issued price per share				$ 4.2812	$ 4.2812
Proceeds from issuance of Series C convertible preferred stock, net of issuance costs				$ 2,200,000	$ 72,600,000
Issuance costs				$ 100,000	$ 4,100,000
Series C Convertible Preferred Stock | Convertible Notes
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Conversion of convertible note payable to preferred stock					6,893,036
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common unit converted into common stock		1
Outstanding shares of convertible preferred stock converted into common stock						17,921,000
Shares issued under ESPP						29,000
IPO
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction	16,560,000
Sale of stock, price per share	$ 18.00
Proceeds from the IPO, net of underwriting discounts, commissions and offering costs	$ 274,100,000
Outstanding shares of convertible preferred stock converted into common stock	17,921,069
IPO | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares authorized	400,000,000
Outstanding shares of convertible preferred stock converted into common stock			17,921,069