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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Jan. 01, 2022
Oct. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based awards, vesting conditions     As of June 30, 2022, the Company has granted service-based awards, which vest over a defined period of service. Most service-based awards vest over a four-year period, with the first 25% vesting following 12 months of continued employment or service, and the remainder vesting in 12 quarterly installments over the following three years. The Company has also granted service-based awards, which vest over a two-year period, with the first 50% vesting following 12 months of continued employment or service, and the remainder vesting in four quarterly installments over the following year.      
Share-based awards, vesting period     4 years      
Shares of common stock reserved for future issuance           834,720
Annual increased percentage on outstanding common stock reserved           0.50%
Number of shares available for future issuance           208,680
Stock option, expiration period     10 years      
Treasury stock, shares 0   0      
Aggregate intrinsic value of stock options exercised $ 0 $ 3,300 $ 0 $ 4,300    
Stock-based compensation expense 2,668 $ 2,690 5,017 $ 4,963    
Total unrecognized compensation expense related to stock compensation awards $ 19,900   $ 19,900      
Weighted-average period of unrecognized compensation expense related to stock compensation awards     2 years 7 months 6 days      
2020 Stock Option and Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares of common stock reserved for future issuance           1,043,402
Additional shares of common stock reserved for future issuance         1,119,192  
Number of shares available for future issuance 1,084,105   1,084,105      
2020 Stock Option and Incentive Plan | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Annual increased percentage on outstanding common stock reserved           5.00%
2020 Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares of common stock reserved for future issuance 0   0      
Tranche 1            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based awards, vesting period     12 months      
Share-based awards, vesting percentage     25.00%      
Tranche 2            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based awards, vesting period     3 years      
Share-based awards, vesting description     12 quarterly installments      
Tranche 3            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based awards, vesting period     2 years      
Tranche 4            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based awards, vesting period     12 months      
Share-based awards, vesting percentage     50.00%      
Tranche 5            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based awards, vesting description     four quarterly installments