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Eligible employees contribution percentage.

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Number of equity incentive plans.

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Participants accrue rights to purchase maximum common stock amount.

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Percentage of shares outstanding used to calculate annual increase in number of shares that can be issued.

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- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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- Definition

Amount of cost to be recognized for option under share-based payment arrangement.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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- Definition

Number of shares authorized for issuance under share-based payment arrangement.

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of shares issued under share-based payment arrangement.

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Description of terms of award under share-based payment arrangement.

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Percentage of vesting of award under share-based payment arrangement.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Purchase price of common stock expressed as a percentage of its fair value.

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Stock-Based Compensation - Additional Information (Details)	12 Months Ended
	Dec. 31, 2022 USD ($) Plan $ / shares shares	Dec. 31, 2021 USD ($) $ / shares	Jan. 01, 2023 shares	Dec. 31, 2020 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of equity incentive plans \| Plan	2
Aggregate intrinsic value of outstanding options	$ 10,400,000
Aggregate intrinsic value of exercisable options	6,700,000
Stock-based compensation expense	$ 25,144,000	$ 20,931,000
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average grant date fair value of options granted \| $ / shares	$ 5.49	$ 22.80
Aggregate intrinsic value of options exercised	$ 1,100,000	$ 26,900,000
Stock-based compensation expense	23,900,000	19,900,000
Total unrecognized compensation expense related to unvested stock option awards	$ 48,500,000
Total unrecognized compensation expense, weighted-average period	2 years 5 months 8 days
Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period	4 years
Stock-based compensation expense	$ 800,000	900,000
Total unrecognized compensation expense, weighted-average period	1 year 18 days
Share-based payment arrangement, nonvested award, unrecognized expense	$ 600,000
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period	4 years
Stock-based compensation expense	$ 229,000	20,000
Total unrecognized compensation expense, weighted-average period	3 years 1 month 9 days
Share-based payment arrangement, nonvested award, unrecognized expense	$ 800,000
2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized \| shares				4,680,000
Number of shares available for future grants \| shares	5,139,028
Terms of award	The total number of shares initially authorized under the Plan was 4,680,000, which was increased on January 1, 2021 and will automatically increase on January 1st of each year, continuing for ten years, in an amount equal to five percent of the total number of shares of the Company’s common stock outstanding on December 31st of the preceding calendar year, subject to the discretion of the board of directors or compensation committee to determine a lesser number of shares shall be added for such year.
Award term	10 years
Percentage of shares outstanding used to calculate annual increase in number of shares that can be issued	5.00%
2020 Equity Incentive Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period	4 years
2020 Equity Incentive Plan \| Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period	1 year
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future grants \| shares	1,310,159
Terms of award	The number of shares of the Company’s common stock that may be issued pursuant to rights granted under the ESPP shall automatically increase on January 1st of each year and continuing for ten years beginning in 2021, in an amount equal to one percent of the total number of shares of all classes of the Company’s common stock outstanding on December 31st of the preceding calendar year, subject to the discretion of the board of directors or compensation committee to determine a lesser number of shares shall be added for such year.
Award term	10 years
Percentage of shares outstanding used to calculate annual increase in number of shares that can be issued	1.00%
Stock-based compensation expense	$ 300,000	$ 200,000
Shares issued \| shares	97,206
Eligible employees purchase common stock percentage of lower of fair market value	85.00%
Participants accrue rights to purchase maximum common stock amount	$ 25,000
2020 Employee Stock Purchase Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Eligible employees contribution percentage	15.00%
Vesting After One Year \| Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of stock options vested	25.00%
Vesting After One Year \| Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of stock options vested	25.00%
Vesting After One Year \| 2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of stock options vested	25.00%
Subsequent Event \| 2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized \| shares			2,394,951
Subsequent Event \| 2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock additional capital shares reserved for future issuance \| shares			478,990