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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
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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Aggregate number of common shares reserved for future issuance.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02.29)
-URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682

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