Stock-based Compensation - Summary of Significant Assumptions Used in the Black-scholes Pricing Model to Determine the Fair Value of Stock Options Granted (Details) - 2020 Stock Option and Incentive Plan	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected option life (years)			6 years 4 months 6 days
Risk-free interest rate, Minimum	0.59%	0.32%	1.71%
Risk-free interest rate, Maximum	1.34%	0.57%	2.36%
Expected volatility, Minimum	80.45%	69.54%	65.50%
Expected volatility, Maximum	86.20%	83.76%	76.80%
Expected dividend yield	0.00%	0.00%	0.00%
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected option life (years)	5 years 6 months	5 years 2 months 23 days
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected option life (years)	6 years 1 month 9 days	6 years 4 months 6 days