Stock-Based Compensation - Summary of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected dividends	0.00%	0.00%	0.00%
Incentive Stock Options and Nonqualified Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility, minimum	74.83%	72.10%	74.80%
Expected volatility, maximum	76.31%	77.50%	82.53%
Risk-free interest rate, minimum	0.61%	0.27%	1.43%
Risk-free interest rate, maximum	1.39%	0.82%	2.59%
Incentive Stock Options and Nonqualified Stock Options | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	5 years 5 months 8 days	5 years 3 months 3 days	5 years
Underlying common stock fair value	$ 15.2	$ 6.22	$ 5.15
Incentive Stock Options and Nonqualified Stock Options | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 years 29 days	6 years 9 months	6 years 29 days
Underlying common stock fair value	$ 38.23	$ 28.79	$ 7.08
Shares of common stock available for future issuance under the 2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected dividends	0.00%	0.00%	0.00%
Expected term (in years)	6 months	6 months 29 days	0 years