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Equity Incentive Plans - Summary of Stock-based Compensation Expense (Details) - 2014 Plan, 2020 Plan and 2020 ESPP - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total stock-based compensation expense | $ 10,729 | $ 5,434 | $ 1,185
Research and Development |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total stock-based compensation expense | 3,954 | 1,861 | 368
General and Administrative |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total stock-based compensation expense | $ 6,775 | $ 3,573 | $ 817

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