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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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