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Equity Incentive Plans and Stock-Based Compensation Expense - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Dec. 31, 2021
Oct. 31, 2020
Mar. 31, 2022
Mar. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares reserved for issuance 5,745,648   8,015,745  
Equity incentive plan, terms     No further grants will be made under the 2016 Plan; however, shares subject to awards granted under the 2016 Plan will continue to be governed by the 2016 Plan.  
Number of shares early exercised under any plan     0  
Aggregate intrinsic value of options exercised     $ 1  
Weighted-average fair value of options granted     $ 3.59  
Stock-based compensation expense     $ 1,141 $ 1,120
Unrecognized stock-based compensation expense     $ 7,100  
Unrecognized stock-based compensation expense expected to be recognized over weighted-average vesting term     3 years  
RSU        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares, Granted     92,200  
Unrecognized stock-based compensation expense     $ 800  
Unrecognized stock-based compensation expense expected to be recognized over weighted-average vesting term     1 year 1 month 6 days  
RSU | Share Based Compensation Award Tranche Three Member        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares, Granted     68,775  
RSU | Share Based Compensation Award Tranche Four Member        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares, Granted 23,425      
2020 Equity Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares reserved for issuance   2,647,684    
Equity incentive plan, terms   In addition, the number of shares of common stock available for issuance under the 2020 Plan will be automatically increased on the first day of each calendar year during the ten-year term of the 2020 Plan, beginning with January 1, 2021 and ending with January 1, 2030, by an amount equal to 5% of the outstanding number of shares of the Company’s common stock on December 31st of the preceding calendar year or such lesser amount as determined by the Company’s Board of Directors.    
Shares authorized for issuance     4,985,297  
Shares remained available for issuance     3,703,093  
Options granted to purchase shares of common stock     1,146,500  
Term of automatically increase in common stock available for issuance   10 years    
Percentage of outstanding shares subject to automatic increase in common stock   5.00%    
2016 Equity Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares authorized for issuance     1,362,330  
Shares remained available for issuance     0  
2020 Employee Stock Purchase Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares reserved for issuance   220,640    
Equity incentive plan, terms     In addition, the number of shares of common stock available for issuance under the ESPP will be automatically increased on the first day of each calendar year during the first ten-years of the term of the ESPP, beginning with January 1, 2021 and ending with January 1, 2030, by an amount equal to the lesser of (i) 1% of the outstanding number of shares of the Company’s common stock on December 31st of the preceding calendar year, (ii) 441,280 shares of common stock or (iii) such lesser amount as determined by the Board of Directors.  
Shares remained available for issuance   441,280 668,118  
ESPP issued     0  
Maximum percentage of compensation that an employee is allowed to purchase shares   15.00%    
Purchase price of common stock expressed as a percentage of fair market value   85.00%    
Term of automatically increase in common stock available for issuance   10 years    
Percentage of outstanding shares subject to automatic increase in common stock   1.00%