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Common Stock and Preferred Stock - Summary of Common Stock Reserved For Future Issuance (Details) - shares | Dec. 31, 2022 | Dec. 31, 2021
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Schedule Of Common Stock Reserved For Future Issuance [Line Items] |  |
Common stock reserved for future issuance (in shares) | 12,072,855 | 10,230,564
Stock Options |  |
Schedule Of Common Stock Reserved For Future Issuance [Line Items] |  |
Common stock reserved for future issuance (in shares) | 8,838,028 | 6,468,501
Future Share-based Awards | 2020 Employee Stock Incentive Plan |  |
Schedule Of Common Stock Reserved For Future Issuance [Line Items] |  |
Common stock reserved for future issuance (in shares) | 1,650,955 | 2,667,780
Future Share-based Awards | 2020 Employee Stock Purchase Plan |  |
Schedule Of Common Stock Reserved For Future Issuance [Line Items] |  |
Common stock reserved for future issuance (in shares) | 839,922 | 654,204
Restricted Stock |  |
Schedule Of Common Stock Reserved For Future Issuance [Line Items] |  |
Common stock reserved for future issuance (in shares) | 743,950 | 440,079

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