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Stock-Based Compensation - Narrative (Details)
3 Months Ended 9 Months Ended
Jan. 01, 2021
shares
Oct. 14, 2020
USD ($)
shares
Sep. 30, 2021
USD ($)
shares
Sep. 30, 2020
shares
Sep. 30, 2021
USD ($)
$ / shares
shares
Sep. 30, 2020
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock issued under ESPP (in shares)     2,106   2,106  
Proceeds from ESPP | $     $ 100,000   $ 100,000  
Grant date fair value (in dollars per share) | $ / shares         $ 19.00  
Unrecognized compensation cost | $     11,900,000   $ 11,900,000  
Aggregate intrinsic value of options outstanding | $     19,300,000   19,300,000  
Aggregate intrinsic value of options exercisable | $     $ 19,300,000   $ 19,300,000  
Stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Weighted-average amortization period         2 years 6 months  
Expected dividends         0.00%  
2020 Stock Incentive Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Increase in number of shares authorized, percentage of capital stock outstanding       0.04   0.04
Additional number of shares authorized (in shares) 445,809          
Number of shares available for future grant (in shares)     3,951,085   3,951,085  
Stock-based compensation, vesting period         4 years  
Share-based compensation, expiration period         10 years  
2020 Stock Incentive Plan | Stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Expected dividends         0.00%  
2020 Employee Stock Purchase Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Increase in number of shares authorized, percentage of capital stock outstanding   0.01        
Shares reserved for future issuance   395,795        
Purchase price of common stock in percent   85.00%        
Contribution limit in percentage of employee's eligible compensation   15.00%        
Maximum value of shares per employee during any calendar year | $   $ 25,000        
Maximum number of shares per employee during any one purchase period (in shares)   600        
Share-based compensation arrangement by share-based payment award, annual increase in number of shares authorized, term 10 years          
Stock issued under ESPP (in shares)       0   0
2020 Employee Stock Purchase Plan | Stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Expected dividends         0.00%