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Common Stock - Schedule of Common Share Reserved for Future Issuance (Details) - shares
Mar. 31, 2021
Dec. 31, 2020
Class Of Stock [Line Items]    
Common stock reserved 7,740,187 6,151,665
2020 Equity Incentive Plan    
Class Of Stock [Line Items]    
Common stock reserved 3,158,754 2,606,546
Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Common stock reserved 519,156 252,337
Options Issued and Outstanding    
Class Of Stock [Line Items]    
Common stock reserved 3,963,608 3,194,113
Common Stock Warrants    
Class Of Stock [Line Items]    
Common stock reserved 98,669 98,669