Stock-Based Compensation - Additional Information (Details) - USD ($)			1 Months Ended	12 Months Ended
	Jan. 01, 2022	Jul. 02, 2020	Jul. 31, 2020	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock for issuance				14,869,885	13,445,714
Common stock, par value				$ 0.0001	$ 0.0001
Stock-based compensation expense				$ 41,315,000	$ 43,975,000
Restricted Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted				1,632,996
Unrecognized stock-based compensation cost				$ 27,400,000
Weighted average period of cost expected to be recognized				2 years 6 months 14 days
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average period of cost expected to be recognized				2 years 2 months 12 days
Aggregate intrinsic value of options exercised				$ 0	$ 300,000
Weighted average grant-date fair value of stock options granted				$ 5.61	$ 24.76
Weighted average grant-date fair value of stock options vested				$ 19.16	$ 13.61
Unrecognized stock-based compensation expenses				$ 50,500,000
2018 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Awards vesting period				4 years
Awards contractual term				10 years
Common stock shares granted				6,715,415
Number of shares of common stock issuable upon exercise of outstanding options				64,042
Reserved shares of common stock for issuance				0
2018 Equity Incentive Plan | Restricted Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted				6,616,772
2020 Stock Option and Grant Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Awards vesting period		4 years
Awards contractual term		10 years
Common stock authorized for issuance		8,008,734
Cumulative increase in number shares reserved for issuance, percentage		5.00%
Shares added to number of available shares under plan	3,528,817
Common stock issuable upon exercise of outstanding options				7,858,755
2020 Stock Option and Grant Plan | Restricted Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted				3,076,516
2020 Stock Option and Grant Plan | Stock Available For Grant
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock for issuance				4,253,680	3,812,396
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock for issuance			611,354	454,302
Percentage of payroll deductions of base salary or wages			15.00%
Percentage of maximum discount on purchase of shares of common stock			15.00%
Offering period, description				(i) on the first trading day of the offering period or (ii) the last day of any offering period. The Company utilizes the Black Scholes option pricing model to compute the fair market value of the shares and compensation expense is recognized over the offering period. The first ESPP offering period was shortened in duration to three months and commenced on April 1, 2022 and ended on June 30, 2022. New six-month offering periods will commence each January 1 and July 1 thereafter during the term of the plan, with the administrator having the right to establish different offering periods.
Cumulative increase in number shares reserved for issuance, percentage			1.00%
Common stock, par value			$ 0.0001
Annual increase in number of shares reserved for issuance			1,222,707
Purchase of common stock under the employee stock purchase plan				157,052
Share issued, average price per share				$ 3.42
Cash received from purchases under the ESPP				$ 500,000
Stock-based compensation expense				$ 200,000
2020 Employee Stock Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Base salary or wages			$ 25,000