Stockholders Equity - Schedule of Reserved Shares of Common Stock for Issuance (Details) - shares	Mar. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	14,015,353	11,279,849
2020 Stock Option and Grant Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	5,350,553
Unvested Restricted Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	3,519,753	3,410,979
Option To Purchase Common Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	5,145,047	3,972,909
Stock Available For Grant | 2020 Stock Option and Grant Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	5,350,553	3,895,961