Stockholders Equity - Schedule of Reserved Shares of Common Stock for Issuance (Details) - shares	Jun. 30, 2022	Dec. 31, 2021	Jul. 31, 2020
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	15,729,091	13,445,714
2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	537,997		611,354
Option To Purchase Common Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	7,933,192	6,155,055
Unvested Restricted Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	2,494,263	2,866,909
Stock Available For Grant | 2020 Stock Option and Grant Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	4,763,639	3,812,396
Stock Available For Issuance | 2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	537,997	611,354