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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