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Stock Plan - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 12 Months Ended |  |
--- | --- | --- | --- | ---
Nov. 19, 2021 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Jan. 01, 2022 | Sep. 24, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares reserved for issuance |  | 9,999,151 | 9,101,447 |  |  |
Total compensation cost related to nonvested awards not yet recognized |  | $ 15,708 |  |  |  |
Weighted-average period over nonvested awards expected to be recognized |  | 3 years 1 month 6 days |  |  |  |
Expected dividend yield |  | 0.00% | 0.00% | 0.00% |  |
2020 Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares reserved for issuance |  |  |  |  |  | 4,406,374
Number of additional shares reserved for issuance, minimum |  |  |  |  |  | 4,406,374
Percentage of number of shares of common stock outstanding increase |  |  |  |  |  | 5.00%
Shares issued |  | 4,951,680 |  |  |  |
2020 Plan | Subsequent Event |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of additional shares reserved for issuance, maximum |  |  |  |  | 1,363,084 |
2020 ESPP |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares reserved for issuance |  | 801,464 |  |  |  | 400,752
Percentage of number of shares of common stock outstanding increase |  |  |  |  |  | 1.00%
Number of additional shares reserved for issuance, maximum |  |  |  |  |  | 801,504
Shares issued |  | 47,066 |  |  |  |
Employees exercised their right to purchase shares | 10,480 |  |  |  |  |
Shares outstanding |  | 47,066 |  |  |  |
Expected dividend yield |  | 0.00% |  |  |  |
2020 ESPP | Subsequent Event |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares reserved for issuance |  |  |  |  | 0 |
2013 Stock Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Intrinsic value of options exercised |  | $ 18,534 | $ 245 |  |  |
Stock options granted at grant-date fair value |  | $ 20.03 | $ 3.34 |  |  |

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