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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
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