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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, 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