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Equity Incentive Plans - Summary of Estimated Fair Value of Shares Under Employee Stock Purchase Plan (Details)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Fair Value Assumptions
Expected volatility, Minimum	81.00%	81.20%	78.40%
Expected volatility, Maximum	84.10%	94.10%	80.40%
Expected dividend yield	0.00%	0.00%	0.00%
Risk-free interest rate, Minimum	0.50%	0.30%	1.60%
Risk-free interest rate, Maximum	1.30%	1.40%	2.40%
Minimum
Fair Value Assumptions
Expected term (in years)	5 years 3 months 18 days	5 years 7 months 6 days	5 years 10 months 24 days
Maximum
Fair Value Assumptions
Expected term (in years)	5 years 6 months	6 years 1 month 6 days	6 years 1 month 6 days
2020 Employee Stock Purchase Plan
Fair Value Assumptions
Expected volatility, Minimum	79.60%	105.80%
Expected volatility, Maximum	126.30%	158.20%
Expected dividend yield	0.00%	0.00%
Risk-free interest rate, Minimum	0.00%	0.10%
Risk-free interest rate, Maximum	0.50%	0.20%
2020 Employee Stock Purchase Plan | Minimum
Fair Value Assumptions
Expected term (in years)	6 months	4 months 24 days
2020 Employee Stock Purchase Plan | Maximum
Fair Value Assumptions
Expected term (in years)	2 years	2 years

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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The estimated measure of the maximum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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The estimated measure of the minimum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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The maximum risk-free interest rate assumption that is used in valuing an option on its own shares.

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The minimum risk-free interest rate assumption that is used in valuing an option on its own shares.

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Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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