Equity and Share-based Compensation - Narrative (Details)					1 Months Ended				2 Months Ended	8 Months Ended		12 Months Ended
	Jul. 01, 2021 USD ($) $ / shares shares	Aug. 03, 2020 USD ($) $ / shares shares	Apr. 07, 2020 USD ($) $ / shares shares	Apr. 02, 2020 $ / shares shares	May 31, 2021 USD ($)	Apr. 30, 2020 shares	Dec. 31, 2017 USD ($) shares	Sep. 30, 2015 USD ($)	Mar. 31, 2016 USD ($)	Dec. 31, 2021 USD ($) $ / shares shares	Aug. 31, 2018 USD ($)	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares	Dec. 31, 2019 USD ($) shares	Mar. 15, 2021 shares	Sep. 30, 2019 shares	Dec. 21, 2017 shares
Class of Stock [Line Items]
Common stock issued (in shares)							5,187,554			45,490,764		45,490,764	41,040,286
Common stock outstanding (in shares)							5,187,554			45,490,764		45,490,764	41,040,286
Common stock subject to future vesting provisions (in shares)							406,831
Common stock, shares authorized				250,000,000						250,000,000		250,000,000	250,000,000
Common stock, par value (in dollars per share) | $ / shares				$ 0.001						$ 0.001		$ 0.001	$ 0.001
Preferred stock, shares authorized				10,000,000						10,000,000		10,000,000	10,000,000
Preferred stock, par value (in dollars per share) | $ / shares				$ 0.001						$ 0.001		$ 0.001	$ 0.001
Proceeds from issuance of common stock in initial public offering, net | $			$ 190,000,000									$ 0	$ 172,482,000	$ 0
Issuance fees and expenses | $			17,600,000
Proceeds from issuance of common stock, net | $												$ 171,973,000	$ 155,305,000	0
Issuance of common stock upon exercise of options (in shares)												232,684
Proceeds from exercises of stock options | $												$ 7,200,000
Options, weighted average grant date fair value (dollars per share) | $ / shares												$ 33.27	$ 16.79
Intrinsic value of options exercised | $												$ 8,800,000	$ 0
Common Stock
Class of Stock [Line Items]
Stock issued (in shares)												3,691,000	4,744,000
Stock issued upon conversion of units (in shares)													10,278,000
Issuance of common stock upon exercise of options (in shares)												232,000
Issuance of common stock in connection with restricted stock unit vesting (in shares)												516,831	426,000
IPO
Class of Stock [Line Items]
Share price (in dollars per sharee) | $ / shares				$ 18.00
Proceeds from issuance of common stock in initial public offering, net | $			190,000,000.0
Issuance fees and expenses | $			$ 17,600,000
IPO | Common Stock
Class of Stock [Line Items]
Stock issued (in shares)													10,589,000
Follow-On Offering
Class of Stock [Line Items]
Gross proceeds from issuance of common stock | $		$ 166,000,000
Expenses and fees from the issuance of common stock | $	$ 10,700,000	$ 10,800,000
Proceeds from issuance of common stock, net | $	$ 172,900,000
Sales Agreement
Class of Stock [Line Items]
Gross proceeds from issuance of common stock | $										$ 10,000,000
Expenses and fees from the issuance of common stock | $										$ 300,000
Maximum gross sales proceeds | $					$ 200,000,000
The 2020 Plan
Class of Stock [Line Items]
Outstanding awards (in shares)										4,517,677		4,517,677
Shares available for future grants (in shares)										1,971,266		1,971,266
Zentera Stock Plan
Class of Stock [Line Items]
Share-based compensation prior to deconsolidation | $												$ 138,000	$ 187,000	$ 0
2020 ESPP
Class of Stock [Line Items]
Employee Stock Purchase Plan (ESPP), number of shares available						450,000
Employee Stock Purchase Plan (ESPP), number of shares outstanding, percentage						0.01
Employee Stock Purchase Plan (ESPP), number of shares available, other term in calculation						1,500,000
Amended 2020 ESPP
Class of Stock [Line Items]
Employee Stock Purchase Plan (ESPP), shares in ESPP reserve															2,000,000
Series A Preferred Units
Class of Stock [Line Items]
Preferred units authorized (in shares)							1,638,000
Issuance fees and expenses | $								$ 100,000	$ 39,000
Series B Preferred Units
Class of Stock [Line Items]
Preferred units authorized (in shares)							3,621,000
Issuance fees and expenses | $							$ 1,900,000				$ 300,000
Class A Common Units
Class of Stock [Line Items]
Common units, authorized (in shares)							15,000,000
Stock issued (in shares)												0	0
Common units subject to future vesting conditions (in shares)										0		0	0
Class A Common Units | Common Stock
Class of Stock [Line Items]
Stock issued upon conversion of units (in shares)													5,601,000
Class B Common Units
Class of Stock [Line Items]
Common units, authorized (in shares)							872,620									3,458,522
Stock issued upon conversion of units (in shares)							703,000
Class B Common Units | Common Stock
Class of Stock [Line Items]
Stock issued (in shares)														1,059,000
Stock issued upon conversion of units (in shares)													2,607,000
Class B Common Units | The Plan
Class of Stock [Line Items]
Shares authorized to be issued under plan (in shares)																	3,458,522
Class B Common Units | The 2020 Plan | Maximum
Class of Stock [Line Items]
Shares authorized to be issued under plan (in shares)						1,250,000
Common Stock | Corporate Conversion
Class of Stock [Line Items]
Stock issued (in shares)				0
Common Stock | IPO
Class of Stock [Line Items]
Stock issued upon conversion of units (in shares)				25,288,854
Stock issued (in dollars per share) | $ / shares				$ 18.00
Number of shares issued and sold			10,557,000
Share price (in dollars per sharee) | $ / shares			$ 18.00
Common Stock | Underwriters
Class of Stock [Line Items]
Number of shares issued and sold	465,000	618,750	1,377,000
Share price (in dollars per sharee) | $ / shares			$ 18.00
Common Stock | Follow-On Offering
Class of Stock [Line Items]
Number of shares issued and sold	3,565,000	4,743,750
Share price (in dollars per sharee) | $ / shares	$ 48.50	$ 35.00
Common Stock | Sales Agreement
Class of Stock [Line Items]
Number of shares issued and sold										125,643
Common Stock | Weighted Average | Sales Agreement
Class of Stock [Line Items]
Share price (in dollars per sharee) | $ / shares										$ 79.59		$ 79.59
Common Stock | The 2020 Plan
Class of Stock [Line Items]
Shares authorized to be issued under plan (in shares)						5,600,000
Percent of common stock outstanding used as threshold to calculate shares available for issuance						5.00%
Unvested RSAs | IPO
Class of Stock [Line Items]
Stock issued upon conversion of units (in shares)				1,160,277
Outstanding stock options
Class of Stock [Line Items]
Generally expected vesting term of the option contract (in years)												10 years
Expected dividend yield												0.00%	0.00%
Unvested RSUs
Class of Stock [Line Items]
Shares surrendered for minimum withholding taxes (in shares)												17,080
Minimum withholding taxes | $												$ 1,100,000
Grant date fair value of shares vested | $												12,700,000	$ 10,100,000
Fair value of vested shares | $												26,400,000	21,800,000
Unvested RSAs
Class of Stock [Line Items]
Grant date fair value of shares vested | $												1,700,000	1,100,000
Fair value of vested shares | $												$ 21,000,000	$ 14,300,000
Employee Stock Purchase Plan
Class of Stock [Line Items]
Expected dividend yield												0.00%	0.00%
Employee Stock Purchase Plan (ESPP) maximum percent of compensation to contribute										20.00%		20.00%
Employee Stock Purchase Plan (ESPP) maximum contribution amount | $												$ 21,250
Employee Stock Purchase Plan (ESPP), purchase price of common stock, percent of market price												85.00%
Employee Stock Purchase Plan (ESPP), offering period												6 months