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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, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Total stock-based compensation expense $ 23,650 $ 10,729 $ 5,434
Research and Development      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Total stock-based compensation expense 9,899 3,954 1,861
General and Administrative      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Total stock-based compensation expense $ 13,751 $ 6,775 $ 3,573