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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 12 Months Ended
--- | --- | ---
May 31, 2020 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total shares reserved for future issuance (in shares) |  | 8,467,491 | 7,338,314
Incentive Stock Options and Nonqualified Stock Options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Grant date fair value of stock option (in dollars per share) |  | $ 16.94 | $ 7.27
Restricted Stock Awards |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized compensation cost |  | $ 37 |
Unrecognized compensation expense, weighted average period |  | 4 months 17 days |
Outstanding stock option awards |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total shares reserved for future issuance (in shares) |  | 3,620,180 | 2,993,855
Unrecognized compensation expense, weighted average period |  | 2 years 6 months |
Unrecognized compensation cost |  | $ 24,200 |
2020 Equity Incentive Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Common stock shares outstanding percentage | 5.00% |  |
Total shares reserved for future issuance (in shares) |  | 4,234,213 | 3,644,459
Exercise price as a percentage of estimated grant date fair value of shares | 10.00% |  |
Expiration period from date of grant | 5 years |  |
2020 Equity Incentive Plan | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Options under plan may be granted for periods | 10 years |  |
Exercise price as a percentage of estimated grant date fair value of shares | 110.00% |  |
Restricted Common Stock Awards |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of shares granted (in shares) |  | 0 |
Aggregate fair value of restricted stock awards vested |  | $ 200 | $ 200
Total intrinsic value of outstanding unvested restricted stock awards |  | 300 | 2,900
Restricted Common Stock Awards | Accrued Expenses and Other Liabilities |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Accrued expenses and other liabilities |  | $ 2 | $ 10
Restricted Common Stock Awards | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 4 years |  |
Restricted Common Stock Awards | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 1 year |  |
2015 Equity and 2020 Incentive Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Expiration period from date of grant |  | 10 years |
Vesting period |  | 4 years |

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