Common Stock - Schedule of Common Share Reserved for Future Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Common stock reserved	7,123,787	6,151,665
2020 Equity Incentive Plan
Class Of Stock [Line Items]
Common stock reserved	2,690,097	2,606,546
Employee Stock Share Purchase Plan
Class Of Stock [Line Items]
Common stock reserved	498,747	252,337
Options Issued and Outstanding
Class Of Stock [Line Items]
Common stock reserved	3,881,274	3,194,113
Common Stock Warrants
Class Of Stock [Line Items]
Common stock reserved	53,669	98,669