Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	9 Months Ended	12 Months Ended
	Sep. 30, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Common Stock, Shares, Issued	36,365,317	35,799,233
Common Stock, Shares, Outstanding	36,365,317	35,799,233
Total number of common shares reserved for issuance	7,578,950	6,247,701
Warrants [Member]
Class Of Stock [Line Items]
Warrants for the purchase of common stock	0	151,088
Common Stock Options and Restricted Stock Units [Member]
Class Of Stock [Line Items]
Common Stock, Shares, Issued	3,347,937	2,061,948
Common Stock, Shares, Outstanding	3,347,937	2,061,948
2020 Plan [Member]
Class Of Stock [Line Items]
Awards available for future issuance	3,022,529	3,211,854
Employees Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Awards available for future issuance	1,208,484	822,811
Total number of common shares reserved for issuance	1,208,484