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Convertible Preferred Stock and Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 7 Months Ended 9 Months Ended
Sep. 30, 2020
Dec. 31, 2020
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Weighted average grant date fair value per share of option grants     $ 8.41 $ 2.09  
Total intrinsic value of stock options exercised     $ 500 $ 49  
Common stock available for future issuance 6,115,466   6,115,466   19,009,189
Unrecognized stock-based compensation cost $ 16,300   $ 16,300    
Remaining weighted average period of unrecognized stock-based compensation cost     3 years    
Forecast | Dr. Song          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Cash compensation   $ 100      
Incremental fair value   $ 1,100      
2020 Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares authorized for issuance 2,759,799   2,759,799    
Number of shares available for issuance 2,759,799   2,759,799    
Equity Plans          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Option vesting period term     Options issued under the Equity Plans vest over a four-year period from the vesting commencement date    
Equity Plans | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Maximum term of options granted     10 years    
ESPP          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Maximum contribution percentage of eligible gross compensation 15.00%   15.00%    
Maximum number of common stock shares purchase by eligible employees 20,000        
Percentage of fair market value of common stock 85.00%        
Offering period 2 years        
Offering period term     Offerings under the ESPP are approximately two years in duration and consist of four purchase periods that are approximately six months in duration    
Common stock available for future issuance 405,000   405,000