Equity Incentive Plans - Summary of Estimated Fair Value of Shares Under Employee Stock Purchase Plan (Details)	3 Months Ended	9 Months Ended
Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Fair Value Assumptions
Expected volatility, Minimum	71.30%	80.40%	71.30%	78.10%
Expected volatility, Maximum	72.10%	80.60%	74.00%	81.20%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Expected term (in years)	5 years 4 months 24 days	5 years 6 months
Risk-free interest rate, Minimum	4.20%	2.70%	3.50%	1.60%
Risk-free interest rate, Maximum	4.40%	4.00%	4.40%	4.00%
Minimum
Fair Value Assumptions
Expected term (in years)			5 years 3 months 18 days	5 years 4 months 24 days
Maximum
Fair Value Assumptions
Expected term (in years)			5 years 4 months 24 days	5 years 6 months
2020 Employee Stock Purchase Plan
Fair Value Assumptions
Expected volatility, Minimum	74.00%	78.80%	74.00%	78.80%
Expected volatility, Maximum	79.60%	82.00%	99.70%	97.50%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Risk-free interest rate, Minimum	4.20%	1.60%	4.20%	0.10%
Risk-free interest rate, Maximum	5.40%	2.70%	5.40%	2.70%
2020 Employee Stock Purchase Plan \| Minimum
Fair Value Assumptions
Expected term (in years)	6 months	6 months	6 months	6 months
2020 Employee Stock Purchase Plan \| Maximum
Fair Value Assumptions
Expected term (in years)	2 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
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (f)(2)(iii)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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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.

+ References

No definition available.

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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.

+ References

No definition available.

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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.

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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.

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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
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (f)(2)(i)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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