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Equity Incentive Plans - Summary of Stock-based Compensation Expense (Details) - 2014 Plan, 2020 Plan and 2020 ESPP - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total stock-based compensation expense $ 9,648 $ 4,099
Research and Development    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total stock-based compensation expense 4,527 1,775
General and Administrative    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total stock-based compensation expense $ 5,121 $ 2,324