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Stock-based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Mar. 25, 2021
Dec. 31, 2020
Dec. 31, 2021
Dec. 31, 2020
Mar. 24, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares reserved for issuance   6,151,665 7,123,787 6,151,665  
Number of shares available for grant   2,606,546 2,690,097 2,606,546  
Number of options outstanding   3,194,113 3,881,274 3,194,113  
Number of stock options granted     1,566,150    
Fair value of options vested     $ 13,800 $ 5,000  
Unrecognized stock-based compensation of unvested options     $ 37,700    
Unrecognized stock-based compensation, expected to be recognized over weighted-average period     2 years 8 months 12 days    
Stock-based compensation expense     $ 13,799 $ 4,984  
Expected dividend yield     0.00% 0.00%  
Employee          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of stock options granted     1,521,150 1,267,743  
Weighted-average grant date fair value     $ 34.46 $ 11.84  
Stock-based compensation expense     $ 13,300 $ 4,600  
Expected dividend yield     0.00% 0.00%  
Nonemployee          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of stock options granted     45,000 54,000  
Weighted-average grant date fair value     $ 47.42 $ 11.05  
Stock-based compensation expense     $ 500 $ 400  
Expected dividend yield     0.00% 0.00%  
2020 Incentive Award Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares reserved for issuance   2,606,546   2,606,546  
Percentage of common stock outstanding increased annually for future issuance     5.00%    
Number of shares available for grant     2,690,097    
Number of shares authorized and reserved for issuance     1,334,099    
2020 Incentive Award Plan | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Options exercisable period   10 years      
Number of shares available for grant     18,000,000    
2015 Equity Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Options exercisable period     10 years    
Number of shares available for grant     0    
Number of options outstanding     2,519,217    
Minimum percentage of outstanding shares held by individual     10.00%    
Exercise price as percentage of fair market value, minimum     110.00%    
2020 ESPP          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Percentage of aggregate number of shares of common stock outstanding reserved for future issuance 1.00%        
Number of shares authorized and reserved for issuance   252,337   252,337 25,000
Employee purchase price of common stock as percentage of fair market value   85.00%      
Common stock overlapping offering period   24 months      
Duration of purchase period   6 months      
Percentage of maximum contributions of employee's eligible compensation   15.00%   15.00%  
2020 ESPP | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares available for grant 15,000,000