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Common Stock - Schedule of Common Share Reserved for Future Issuance (Details) - shares | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | ---
Class Of Stock [Line Items] |  |
Common stock reserved | 7,123,787 | 6,151,665
2020 Equity Incentive Plan |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 2,690,097 | 2,606,546
Employee Stock Share Purchase Plan |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 498,747 | 252,337
Options Issued and Outstanding |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 3,881,274 | 3,194,113
Common Stock Warrants |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 53,669 | 98,669

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- Definition Aggregate number of common shares reserved for future issuance. + References 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 http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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