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Common Stock - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
Oct. 23, 2019 | May 31, 2018 | Dec. 31, 2020 | Dec. 31, 2019 | Aug. 31, 2020 | Jan. 01, 2020 | Oct. 31, 2019
Class Of Stock [Line Items] |  |  |  |  |  |  |
Common stock, authorized shares |  |  | 150,000,000 | 150,000,000 |  |  |
Conversion of non-voting common stock to voting common stock |  |  |  |  | 1,733,904 |  |
Common stock shares modified |  | 2,904,000 |  |  |  |  |
Fair value of common stock shares modified |  | $ 0.74 |  |  |  |  |
Total compensation cost of common stock shares modified |  | $ 2,126 |  |  |  |  |
Unrecognized compensation cost, period for recognition |  | 3 years | 2 years 9 months 18 days |  |  |  |
Unrecognized compensation cost related to unvested stock-based awards |  |  | $ 9,809 |  |  |  |
Stock Options |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Compensation cost recognized |  |  | $ 4,388 | $ 2,300 |  |  |
Founders |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Unrecognized compensation cost, period for recognition |  |  | 3 months 18 days |  |  |  |
Unrecognized compensation cost related to unvested stock-based awards |  |  | $ 239 |  |  |  |
Research and Development | Stock Options |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Compensation cost recognized |  |  | 1,989 | 1,304 |  |  |
Research and Development | Founders |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Compensation cost recognized |  |  | 495 | 529 |  |  |
General and Administrative Expense | Stock Options |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Compensation cost recognized |  |  | 2,399 | 996 |  |  |
General and Administrative Expense | Founders |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Compensation cost recognized |  |  | 177 | $ 177 |  |  |
At-The-Market Offering Sales Agreement |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Issuance of common stock |  |  | $ 75,000 |  |  |  |
Issuance of common stock, Shares |  |  | 0 |  |  |  |
Two Thousand Eighteen Stock Option And Grant Plan | Stock Options |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Share-based compensation unvested number of shares |  |  | 0 |  |  |  |
Number of options granted |  |  | 1,959,411 |  |  |  |
Two Thousand Eighteen Stock Option And Grant Plan | Stock Options | Minimum |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Share-based compensation, vesting period |  |  | 3 years |  |  |  |
Two Thousand Eighteen Stock Option And Grant Plan | Stock Options | Maximum |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Share-based compensation, vesting period |  |  | 4 years |  |  |  |
2019 Plan |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Shares reserved for issuance | 2,342,288 |  |  |  |  | 962,511 |
Increase in share reserved percentage | 4.00% |  |  |  |  |  |
Share-based compensation, number of shares available for grant |  |  | 2,314,303 |  |  |  |
2019 Plan | Stock Options |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Number of options granted |  |  | 813,172 | 1,340,839 |  |  |
Weighted average grant-date fair value of stock options granted |  |  | $ 8.31 | $ 5.24 |  |  |
2019 ESPP |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Compensation cost recognized |  |  | $ 18 |  |  |  |
Shares reserved for issuance | 234,229 |  |  |  |  | 234,229 |
2019 ESPP | Minimum |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Shares reserved for issuance | 234,229 |  |  |  |  |  |
Increase in share reserved percentage | 1.00% |  |  |  |  |  |
2019 ESPP | Maximum |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Payroll deduction percentage of eligible compensation |  |  | 15.00% |  |  |  |
Employee stock purchase plan maximum annual rights to purchase common stock |  |  | $ 25 |  |  |  |
Percentage of shares to be purchased |  |  | 85.00% |  |  |  |
Voting Common Stock |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Common stock, authorized shares |  |  | 143,590,481 | 143,590,481 |  |  | 143,590,481
Non-voting Common Stock |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Common stock, authorized shares |  |  | 6,409,519 | 6,409,519 |  |  | 6,409,519

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