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Stockholders' Equity (Deficit) - Additional Information (Details) - USD ($) |  |  |  |  | 1 Months Ended | 12 Months Ended |
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Aug. 06, 2021 | Jul. 02, 2021 | Jun. 16, 2020 | Apr. 01, 2019 | Jun. 30, 2020 | Jan. 31, 2020 | Nov. 30, 2019 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Jan. 31, 2013
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock shares authorized |  |  | 400,000,000 |  |  |  |  | 400,000,000 | 400,000,000 |  |
Preferred stock undesignated shares authorized |  |  | 40,000,000 |  |  |  |  | 40,000,000 | 40,000,000 |  |
Common stock par value per share |  |  | $ 0.0001 |  |  |  |  | $ 0.0001 | $ 0.0001 |  |
Preferred stock par value per share |  |  | $ 0.0001 |  |  |  |  | $ 0.0001 | $ 0.0001 |  |
Sale of stock number of shares issued in transaction |  |  |  |  |  |  |  | 780,549,000 |  |  |
Sale of common stock maximum aggregate offering price |  | $ 150,000,000.0 |  |  |  |  |  |  |  |  |
Termination notice period for sales agreement |  | 10 days |  |  |  |  |  |  |  |  |
Net proceeds from Issuance of common stock after deducting offering-related transaction costs and commissions |  |  |  |  |  |  |  | $ 19,600,000 |  |  |
Reclassified accumulated deficit from predecessor deficit to additional paid in capital |  |  |  | $ 44,100,000 |  |  |  |  |  |  |
Proceeds from issuance of Series C convertible preferred stock, net of issuance costs |  |  |  |  |  |  |  | 0 | $ 2,200,000 | $ 72,623,000 |
Issuance costs |  |  |  |  |  |  |  | $ 11,262,000 | $ 24,026,000 | 0 |
Shares of common stock reserved for future issuance |  |  |  |  |  |  |  | 8,992,000 | 6,936,000 |  |
Award vesting period |  |  |  |  |  |  |  | 4 years |  |  |
Total intrinsic value of options exercised |  |  |  |  |  |  |  | $ 3,400,000 | $ 500,000 | $ 7,000 |
Weighted-average grant date fair value of options granted |  |  |  |  |  |  |  | $ 16.78 | $ 11.63 | $ 3.46 |
Stock options exercised were unvested |  |  |  |  |  |  |  | 15,288 | 69,359 |  |
Expected dividend yield |  |  |  |  |  |  |  | 0.00% | 0.00% | 0.00% |
Time-based Options |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation cost |  |  |  |  |  |  |  | $ 46,900,000 |  |  |
Weighted-average period of unrecognized compensation cost |  |  |  |  |  |  |  | 2 years 7 months 6 days |  |  |
Maximum |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Expected term (in years) |  |  |  |  |  |  |  | 6 years 1 month 6 days | 6 years 1 month 6 days | 6 years 1 month 6 days |
Minimum |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Expected term (in years) |  |  |  |  |  |  |  | 5 years 6 months | 5 years 4 months 24 days | 2 years |
2013 Equity Incentive Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Units initially reserved for issuance |  |  |  |  |  |  |  |  |  |  | 2,127,013
Increased to number of shares reserved under plan |  |  |  |  |  |  |  |  |  |  | 4,771,615
2013 Equity Incentive Plan | Maximum |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Expiration period |  |  |  |  |  |  |  | 10 years |  |  |
2020 Incentive Award Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance |  |  |  |  | 3,900,000 |  |  |  |  |  |
Percentage of shares of common stock outstanding on final day of immediately preceding calendar year |  |  |  |  | 5.00% |  |  |  |  |  |
Number of remaining shares available for issuance |  |  |  |  |  |  |  | 2,574,824 |  |  |
2020 Incentive Award Plan | Maximum |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Expiration period |  |  |  |  |  |  |  | 10 years |  |  |
Employee Stock Purchase Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Participant maximum contribution as percentage of eligible compensation |  |  |  |  | 15.00% |  |  |  |  |  |
Percentage of purchase price of shares of lower of fair market value |  |  |  |  | 85.00% |  |  |  |  |  |
Shares of common stock available for issuance |  |  |  |  |  |  |  | 638,563 |  |  |
Shares issued under ESPP |  |  |  |  |  |  |  | 33,147 | 28,979 |  |
Expected term (in years) |  |  |  |  |  |  |  | 6 months | 6 months |  |
Expected dividend yield |  |  |  |  |  |  |  | 0.00% | 0.00% |  |
Unrecognized compensation cost |  |  |  |  |  |  |  | $ 200,000 |  |  |
Weighted-average period of unrecognized compensation cost |  |  |  |  |  |  |  | 6 months |  |  |
Employee Stock Purchase Plan | Accounts Payable and Accrued Liabilities |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Outstanding liability |  |  |  |  |  |  |  | $ 53,000 |  |  |
Series A Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Preferred unit converted into convertible preferred stock |  |  |  | 1 |  |  |  |  |  |  |
Series B Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Preferred unit converted into convertible preferred stock |  |  |  | 1 |  |  |  |  |  |  |
Series C Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Preferred stock, shares issued |  |  |  |  |  | 537,232 | 17,915,525 |  |  |  |
Stock issued price per share |  |  |  |  |  | $ 4.2812 | $ 4.2812 |  |  |  |
Proceeds from issuance of Series C convertible preferred stock, net of issuance costs |  |  |  |  |  | $ 2,200,000 | $ 72,600,000 |  |  |  |
Issuance costs |  |  |  |  |  | $ 100,000 | $ 4,100,000 |  |  |  |
Series C Convertible Preferred Stock | Convertible Notes |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Conversion of convertible note payable to preferred stock |  |  |  |  |  |  | 6,893,036 |  |  |  |
Common Stock |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common unit converted into common stock |  |  |  | 1 |  |  |  |  |  |  |
Outstanding shares of convertible preferred stock converted into common stock |  |  |  |  |  |  |  |  | 17,921,000 |  |
Shares issued under ESPP |  |  |  |  |  |  |  | 33,000 | 29,000 |  |
Public Offering |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Sale of stock number of shares issued in transaction |  |  | 16,560,000 |  |  |  |  |  |  |  |
Sale of stock, price per share |  |  | $ 18.00 |  |  |  |  |  |  |  |
Proceeds from the IPO, net of underwriting discounts, commissions and offering costs |  |  | $ 274,100,000 |  |  |  |  |  |  |  |
Outstanding shares of convertible preferred stock converted into common stock |  |  | 17,921,069 |  |  |  |  |  |  |  |
Public Offering | Common Stock |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock shares authorized |  |  | 400,000,000 |  |  |  |  |  |  |  |
Outstanding shares of convertible preferred stock converted into common stock |  |  |  |  | 17,921,069 |  |  |  |  |  |
Follow-on Public Offering | Common Stock |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Sale of stock number of shares issued in transaction | 9,200,000 |  |  |  |  |  |  |  |  |  |
Sale of stock, price per share | $ 18.00 |  |  |  |  |  |  |  |  |  |
Proceeds from the follow-on public offering, net of underwriting discounts, commissions and offering costs | $ 155,100,000 |  |  |  |  |  |  |  |  |  |

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