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Equity Incentive Plans - Additional Information (Details) - USD ($)
3 Months Ended 12 Months Ended
Jan. 01, 2021
Jun. 11, 2020
Jun. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting percentage for stock options granted   25.00%        
Vesting period for stock options granted   4 years        
Early exercised stock options       15,056 86,409  
Options granted       66,982    
Exercise of stock options (in shares)       358,264 302,512 86,163
Weighted-average price per share       $ 1.88 $ 1.46 $ 1.48
Weighted-average grant date fair value of options granted       $ 9.62 $ 1.52 $ 1.38
Intrinsic value of the stock options exercised       $ 7,800,000 $ 300,000 $ 0
Unrecognized stock-based compensation expense       $ 19,500,000    
Unrecognized share-based compensation expense, expected to be recognized       2 years 8 months 12 days    
Performance-based Awards            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock-based compensation expense     $ 300,000      
Performance-based Awards | IPO            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares vested     362,935      
Other Liabilities            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Remaining liabilities related to early exercised shares       $ 0 $ 200,000  
2020 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Exercise price expire in years form the date of grant   5 years        
Stock options granted term   10 years        
Percentage of provisions subject to stockholders   10.00%        
Shares reserved for issuance   10,150,000        
Term of plan   10 years        
Percentage of outstanding number of shares   5.00%        
Aggregate number of shares available for issuance       4,651,149    
Number of shares outstanding       407,000    
2020 Equity Incentive Plan | Subsequent Event            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Available for issuance of shares increased 2,553,579          
2014 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares outstanding       4,714,549    
2020 Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance   650,000        
Term of plan   10 years        
Percentage of outstanding number of shares   1.00%        
Aggregate number of shares available for issuance       622,535    
Employees purchase shares of common stock of lower of fair market value   85.00%        
Offering period   2 years        
Purchase period   6 months        
Percentage of payroll deductions of eligible compensation   15.00%        
Employees acquired shares of common stock       27,465    
2020 Employee Stock Purchase Plan | Subsequent Event            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Available for issuance of shares increased 510,715          
Minimum | 2020 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Incentive stock option granted to employees owning percentage of shares of common stock   10.00%        
Maximum | 2020 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of fair value per share on the grant date   110.00%