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Equity Incentive Plans - Summary of Estimated Fair Value of Shares Under Employee Stock Purchase Plan (Details) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Fair Value Assumptions |  |  |
Expected volatility, Minimum | 78.10% | 81.00% | 81.20%
Expected volatility, Maximum | 85.10% | 84.10% | 94.10%
Expected dividend yield | 0.00% | 0.00% | 0.00%
Risk-free interest rate, Minimum | 1.60% | 0.50% | 0.30%
Risk-free interest rate, Maximum | 4.40% | 1.30% | 1.40%
Minimum |  |  |
Fair Value Assumptions |  |  |
Expected term (in years) | 5 years 3 months 18 days | 5 years 3 months 18 days | 5 years 7 months 6 days
Maximum |  |  |
Fair Value Assumptions |  |  |
Expected term (in years) | 5 years 6 months | 5 years 6 months | 6 years 1 month 6 days
2020 Employee Stock Purchase Plan |  |  |
Fair Value Assumptions |  |  |
Expected volatility, Minimum | 78.80% | 79.60% | 105.80%
Expected volatility, Maximum | 99.70% | 126.30% | 158.20%
Expected dividend yield | 0.00% | 0.00% | 0.00%
Risk-free interest rate, Minimum | 0.10% | 0.00% | 0.10%
Risk-free interest rate, Maximum | 4.70% | 0.50% | 0.20%
2020 Employee Stock Purchase Plan | Minimum |  |  |
Fair Value Assumptions |  |  |
Expected term (in years) | 6 months | 6 months | 4 months 24 days
2020 Employee Stock Purchase Plan | Maximum |  |  |
Fair Value Assumptions |  |  |
Expected term (in years) | 2 years | 2 years | 2 years

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- Definition 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. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition 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. + References No definition available. + Details
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- Definition 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. + References No definition available. + Details
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- Definition The maximum risk-free interest rate assumption that is used in valuing an option on its own shares. + References No definition available. + Details
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- Definition The minimum risk-free interest rate assumption that is used in valuing an option on its own shares. + References No definition available. + Details
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- Definition 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. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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