Entity Central Index Key Cover [Abstract] Entity Registrant Name Entity Registrant Name Entity Central Index Key Entity Central Index Key Document Type Document Type Document Period End Date Document Period End Date Trading Symbol Trading Symbol Amendment Flag Amendment Flag Document Fiscal Year Focus Document Fiscal Year Focus Document Fiscal Period Focus Document Fiscal Period Focus Current Fiscal Year End Date Current Fiscal Year End Date Entity Filer Category Entity Filer Category Entity Common Stock, Shares Outstanding Entity Common Stock Shares Outstanding Entity Shell Company Entity Shell Company Entity Current Reporting Status Entity Current Reporting Status Entity Interactive Data Current Entity Interactive Data Current Entity Emerging Growth Company Entity Emerging Growth Company Entity Ex Transition Period Entity Ex Transition Period Entity Small Business Entity Small Business Entity File Number Entity File Number Entity Incorporation, State or Country Code Entity Incorporation State Country Code Entity Tax Identification Number Entity Tax Identification Number Entity Address, Address Line One Entity Address Address Line1 Entity Address, Address Line Two Entity Address Address Line2 Entity Address, City or Town Entity Address City Or Town Entity Address, State or Province Entity Address State Or Province Entity Address, Postal Zip Code Entity Address Postal Zip Code City Area Code City Area Code Local Phone Number Local Phone Number Document Quarterly Report Document Quarterly Report Document Transition Report Document Transition Report Title of 12(b) Security Security12b Title Security Exchange Name Security Exchange Name Accrued liabilities and other liabilities, current. Statement Of Financial Position [Abstract] ASSETS Assets [Abstract] Current assets: Assets Current [Abstract] Cash and cash equivalents Cash And Cash Equivalents At Carrying Value Short-term investments Short Term Investments Prepaid expenses Prepaid Expense Current Other current assets Other Assets Current Total current assets Assets Current Restricted cash Restricted Cash Noncurrent Right-of-use assets Operating Lease Right Of Use Asset Long-term investments Long Term Investments Other assets Other Assets Noncurrent Total assets Assets LIABILITIES AND STOCKHOLDERS’ EQUITY Liabilities And Stockholders Equity [Abstract] Current liabilities: Liabilities Current [Abstract] Accounts payable Accounts Payable Current Term loan, current portion Long Term Debt Current Accrued expenses and other current liabilities Accrued Liabilities And Other Liabilities Current Accrued compensation and benefits Accrued Employee Benefits Current Total current liabilities Liabilities Current Term loan, net of current portion Long Term Debt Noncurrent Lease liability, net of current portion Operating Lease Liability Noncurrent Other liabilities Other Liabilities Noncurrent Total liabilities Liabilities Commitments and contingencies (Note 8) Commitments And Contingencies Stockholders’ equity: Stockholders Equity [Abstract] Preferred stock, $0.0001 par value, 10,000,000 shares authorized, and no shares issued and outstanding as of June 30, 2021 and December 31, 2020 Preferred Stock Value Common stock, $0.0001 par value, 200,000,000 shares authorized, 23,370,070 and 23,260,399 shares issued and outstanding as of June 30, 2021 and December 31, 2020, respectively Common Stock Value Additional paid-in capital Additional Paid In Capital Common Stock Accumulated other comprehensive loss Accumulated Other Comprehensive Income Loss Net Of Tax Accumulated deficit Retained Earnings Accumulated Deficit Total stockholders’ equity Stockholders Equity Total liabilities and stockholders’ equity Liabilities And Stockholders Equity Preferred Stock, Par Value Preferred Stock Par Or Stated Value Per Share Preferred stock, shares authorized Preferred Stock Shares Authorized Preferred stock, shares issued Preferred Stock Shares Issued Preferred stock, shares outstanding Preferred Stock Shares Outstanding Common stock, par value Common Stock Par Or Stated Value Per Share Common stock, shares authorized Common Stock Shares Authorized Common stock, shares issued Common Stock Shares Issued Common stock, shares outstanding Common Stock Shares Outstanding Income Statement [Abstract] Operating expenses: Operating Expenses [Abstract] Research and development Research And Development Expense General and administrative General And Administrative Expense Total operating expenses Operating Expenses Loss from operations Operating Income Loss Interest expense Interest Expense Other income, net Other Nonoperating Income Expense Net loss Net Income Loss Unrealized loss on available for sale securities Other Comprehensive Income Loss Available For Sale Securities Adjustment Net Of Tax Comprehensive loss Comprehensive Income Net Of Tax Net loss per share, basic and diluted Earnings Per Share Basic And Diluted Weighted-average shares of common stock outstanding, basic and diluted Weighted Average Number Of Share Outstanding Basic And Diluted Statement Of Stockholders Equity [Abstract] Statement [Table] Statement [Table] Equity Components Statement Equity Components [Axis] Equity Component Equity Component [Domain] Common Stock Common Stock [Member] Additional Paid-In Capital Additional Paid In Capital [Member] Accumulated Other Comprehensive Loss Accumulated Other Comprehensive Income [Member] Accumulated Deficit Retained Earnings [Member] Class of Stock Statement Class Of Stock [Axis] Class of Stock Class Of Stock [Domain] Series A redeemable convertible preferred stock. Series A Redeemable Convertible Preferred Stock Series A Redeemable Convertible Preferred Stock [Member] Series B redeemable convertible preferred stock. Series B Redeemable Convertible Preferred Stock Series B Redeemable Convertible Preferred Stock [Member] Statement [Line Items] Statement [Line Items] Balance Temporary Equity Carrying Amount Attributable To Parent Balance, Shares Temporary Equity Shares Outstanding Balance Balance, Shares Issuance of redeemable convertible preferred stock, net of issuance costs Temporary Equity Stock Issued During Period Value New Issues Temporary equity stock issued during period shares new issues. Issuance of redeemable convertible preferred stock, net of issuance costs, Shares Temporary Equity Stock Issued During Period Shares New Issues Exercise of stock options Stock Issued During Period Value Stock Options Exercised Exercise of stock options, Shares Stock Issued During Period Shares Stock Options Exercised Issuance of common stock related to employee stock purchase plan Stock Issued During Period Value Employee Stock Purchase Plan Issuance of common stock related to employee stock purchase plan, Shares Stock Issued During Period Shares Employee Stock Purchase Plans Stock-based compensation Adjustments To Additional Paid In Capital Sharebased Compensation Requisite Service Period Recognition Value Net loss Balance Balance, Shares Balance Balance, Shares Temporary equity stock issuance costs. Series B convertible preferred stock. Series B Convertible Preferred Stock Series B Convertible Preferred Stock [Member] Stock issuance costs Temporary Equity Stock Issuance Costs Amortization of premium on available for sale securities. Increase (decrease) in prepaid expenses and other current assets. Payment of deferred offering costs. Deferred offering costs included in accounts payable and accrued expenses. Statement Of Cash Flows [Abstract] Cash flows from operating activities Net Cash Provided By Used In Operating Activities [Abstract] Net loss Profit Loss Adjustments to reconcile net loss to net cash used in operating activities: Adjustments To Reconcile Net Income Loss To Cash Provided By Used In Operating Activities [Abstract] Stock-based compensation expense Share Based Compensation Depreciation and amortization Depreciation Depletion And Amortization Amortization of premium on available for sale securities Amortization Of Premium On Available For Sale Securities Non-cash lease expense Operating Lease Right Of Use Asset Amortization Expense Changes in operating assets and liabilities: Increase Decrease In Operating Capital [Abstract] Prepaid expenses and other current assets Increase Decrease In Prepaid Expenses And Other Current Assets Accounts payable and accrued expenses Increase Decrease In Accounts Payable And Accrued Liabilities Accrued compensation and benefits Increase Decrease In Employee Related Liabilities Other assets Increase Decrease In Other Operating Assets Other liabilities Increase Decrease In Other Operating Liabilities Net cash used in operating activities Net Cash Provided By Used In Operating Activities Cash flows from investing activities Net Cash Provided By Used In Investing Activities [Abstract] Purchases of property and equipment Payments To Acquire Property Plant And Equipment Purchase of investments Payments To Acquire Investments Net cash used in investing activities Net Cash Provided By Used In Investing Activities Cash flows from financing activities Net Cash Provided By Used In Financing Activities [Abstract] Proceeds from issuance of Series B redeemable convertible preferred stock, net of issuance costs Proceeds From Issuance Of Redeemable Convertible Preferred Stock Payment of deferred offering costs Payments Of Deferred Offering Costs Proceeds from exercise of stock options Proceeds From Stock Options Exercised Proceeds from issuance of common stock related to employee stock purchase plan Proceeds From Stock Plans Proceeds from issuance of long-term debt, net of issuance costs Proceeds From Issuance Of Long Term Debt Repayment of term loan Repayments Of Long Term Debt Net cash provided by financing activities Net Cash Provided By Used In Financing Activities Net increase/(decrease) in cash, cash equivalents and restricted cash Cash Cash Equivalents Restricted Cash And Restricted Cash Equivalents Period Increase Decrease Excluding Exchange Rate Effect Cash, cash equivalents, and restricted cash at beginning of period Cash Cash Equivalents Restricted Cash And Restricted Cash Equivalents Including Disposal Group And Discontinued Operations Cash, cash equivalents, and restricted cash at end of period Supplemental cash flow data: Supplemental Cash Flow Elements [Abstract] Cash paid for interest Interest Paid Net Supplemental disclosure of non-cash investing and financing activities: Cash Flow Noncash Investing And Financing Activities Disclosure [Abstract] Deferred offering costs included in accounts payable and accrued expenses Deferred Offering Costs Included In Accounts Payable And Accrued Expenses Property and equipment included in accounts payable Capital Expenditures Incurred But Not Yet Paid Proceeds from issuance of long-term debt, issuance costs Payments Of Debt Issuance Costs Organization Consolidation And Presentation Of Financial Statements [Abstract] Organization and Principal Activities Organization Consolidation And Presentation Of Financial Statements Disclosure [Text Block] Accounting Policies [Abstract] Summary of Significant Accounting Policies Significant Accounting Policies [Text Block] Investments Debt And Equity Securities [Abstract] Cash Equivalents And Investments Investments In Debt And Marketable Equity Securities And Certain Trading Assets Disclosure [Text Block] Fair Value Disclosures [Abstract] Fair Value Measurements Fair Value Disclosures [Text Block] Balance Sheet Components Disclosure Text Block [Abstract] Balance Sheet Components Balance Sheet Components Disclosure [Text Block] Leases [Abstract] Leases Lessee Operating Leases [Text Block] Debt Disclosure [Abstract] Term Loan Debt Disclosure [Text Block] Commitments And Contingencies Disclosure [Abstract] Commitments and Contingencies Commitments And Contingencies Disclosure [Text Block] Equity [Abstract] Capital Structure Stockholders Equity Note Disclosure [Text Block] Disclosure Of Compensation Related Costs Sharebased Payments [Abstract] Equity Incentive Plans and Stock-Based Compensation Expense Disclosure Of Compensation Related Costs Share Based Payments [Text Block] Income Tax Disclosure [Abstract] Income Taxes Income Tax Disclosure [Text Block] Earnings Per Share [Abstract] Net Loss Per Share Earnings Per Share [Text Block] Subsequent Events [Abstract] Subsequent Events Subsequent Events [Text Block] Interim Condensed Financial Statements Basis Of Accounting Policy Policy [Text Block] Use of Estimates Use Of Estimates Risks and uncertainties.. Risks and Uncertainties Risks And Uncertainties Policy [Text Block] Significant Accounting Policies Basis Of Presentation And Significant Accounting Policies [Text Block] Restricted Cash Cash And Cash Equivalents Restricted Cash And Cash Equivalents Policy Emerging growth company policy. Emerging Growth Company Status Emerging Growth Company Policy Policy [Text Block] Recent accounting pronouncements not yet adopted. Recent Accounting Pronouncements Not Yet Adopted Recent Accounting Pronouncements Not Yet Adopted Policy [Text Block] Recently Adopted Accounting Pronouncements New Accounting Pronouncements Policy Policy [Text Block] Commitments and Contingencies Commitments And Contingencies Policy [Text Block] Schedule of Reconciliation of Cash, Cash Equivalents and Restricted Cash Schedule Of Restricted Cash And Cash Equivalents [Text Block] Summary Of Amortized Cost, Unrealized Gains, And Losses, And Fair Value Debt Securities Available For Sale Table [Text Block] Summary of Financial Assets Measured at Fair Value on Recurring Basis Fair Value Assets Measured On Recurring Basis [Text Block] Balance Sheet Components Disclosure Balance Sheet Components Disclosure [Abstract] Schedule of Accrued Expenses and Other Current Liabilities Schedule Of Accrued Liabilities Table [Text Block] Schedule of Term Loan Schedule Of Debt Table [Text Block] Common stock capital shares reserved for future issuance. Summary of Common Stock Reserved for Future Issuance Common Stock Capital Shares Reserved For Future Issuance Table [Text Block] Summary of Stock Option Activity Schedule Of Share Based Compensation Stock Options Activity Table [Text Block] Summary of Stock-Based Compensation Expense Schedule Of Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Text Block] Schedule of Computation of Basic and Diluted Net Loss Per Share Schedule Of Earnings Per Share Basic And Diluted Table [Text Block] Schedule of Potentially Dilutive Securities not Included in Calculation of Diluted Per Share Schedule Of Antidilutive Securities Excluded From Computation Of Earnings Per Share [Text Block] Organization and principal activities. Organization and principal activities. Organization And Principal Activities [Table] Organization And Principal Activities [Table] Sale of Stock Subsidiary Sale Of Stock [Axis] Sale of Stock Sale Of Stock Name Of Transaction [Domain] Initial Public Offering I P O [Member] Overallotment Option Over Allotment Option [Member] Redeemable Convertible Preferred Stock Redeemable Convertible Preferred Stock [Member] Organization And Principal Activities [Line Items] Organization And Principal Activities [Line Items] Initial public offering of common stock, net of underwriting expenses and offering costs, Shares Stock Issued During Period Shares New Issues Offering price Sale Of Stock Price Per Share Net proceeds of common stock Proceeds From Issuance Of Common Stock Redeemable convertible preferred stock converted into common stock Convertible Preferred Stock Shares Issued Upon Conversion Cash cash equivalents and investments. Cash, cash equivalents and investments Cash Cash Equivalents And Investments Cash in operations Net Cash Provided By Used In Operating Activities Continuing Operations Cash and cash equivalents Restricted cash Restricted Cash Total cash, cash equivalents and restricted cash Cash Cash Equivalents Restricted Cash And Restricted Cash Equivalents Change in accounting principle, accounting standards update, adopted Change In Accounting Principle Accounting Standards Update Adopted Change in accounting principle, accounting standards update, adoption date Change In Accounting Principle Accounting Standards Update Adoption Date Change in accounting principle, accounting standards update, immaterial effect Change In Accounting Principle Accounting Standards Update Immaterial Effect Accounting Standards Update [Extensible List] Accounting Standards Update Extensible List Cash and cash equivalents and available for sale amortized cost. Cash and cash equivalents and available for sale gross unrealized gain. Cash and cash equivalents and available for sale gross unrealized loss. Cash and cash equivalents and available for sale fair value. Cash and cash equivalents amortized cost. Cash and cash equivalents gross unrealized gain. Cash and cash equivalents gross unrealized loss. Debt Securities Available For Sale [Table] Debt Securities Available For Sale [Table] Investment Type Investment Type [Axis] Investments Investment Type Categorization [Member] Money Market Funds Money Market Funds [Member] Cash And Cash Equivalents Cash And Cash Equivalents [Member] Commercial Paper Commercial Paper [Member] Corporate Bond Corporate Bond Securities [Member] US Treasury Securities U S Treasury Securities [Member] Financial Instrument Financial Instrument [Axis] Financial Instruments Transfers And Servicing Of Financial Instruments Types Of Financial Instruments [Domain] Short Term Investments Short Term Debt [Member] Long Term Investments Long Term Debt [Member] Schedule Of Available For Sale Securities [Line Items] Schedule Of Available For Sale Securities [Line Items] Available for sale, amortized cost Available For Sale Debt Securities Amortized Cost Basis Available for sale, gross unrealized gains Available For Sale Debt Securities Accumulated Gross Unrealized Gain Before Tax Available for sale, gross unrealized losses Available For Sale Debt Securities Accumulated Gross Unrealized Loss Before Tax Available for sale, fair value Available For Sale Securities Debt Securities Cash and cash equivalents, amortized cost Cash And Cash Equivalents Amortized Cost Cash and cash equivalents, gross unrealized gains Cash And Cash Equivalents Gross Unrealized Gain Cash and cash equivalents, gross unrealized losses Cash And Cash Equivalents Gross Unrealized Loss Cash and cash equivalents, fair value Cash And Cash Equivalents Fair Value Disclosure Cash and cash equivalents and available for sale securities, amortized cost Cash And Cash Equivalents And Available For Sale Amortized Cost Cash and cash equivalents and available for sale securities, gross unrealized gains Cash And Cash Equivalents And Available For Sale Gross Unrealized Gain Cash and cash equivalents and available for sale securities, gross unrealized losses Cash And Cash Equivalents And Available For Sale Gross Unrealized Loss Cash and cash equivalents and available for sale securities, fair value Cash And Cash Equivalents And Available For Sale Fair Value Weighted-average remaining contractual term maturities available for sale. Weighted-average remaining contractual term maturities available for sale Weighted Average Remaining Contractual Term Maturities Available For Sale Cash equivalents and short term investments due term. Debt securities, available-for-sale, realized gain (loss) Debt Securities Available For Sale Realized Gain Loss Debt securities, available-for-sale, Continuous unrealized loss position, 12 months or longer Debt Securities Available For Sale Continuous Unrealized Loss Position12 Months Or Longer Debt securities, available-for-sale, realized gain (loss), excluding other-than-temporary impairment Debt Securities Available For Sale Realized Gain Loss Excluding Other Than Temporary Impairment Cash equivalents and short term investments due term Cash Equivalents And Short Term Investments Due Term Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Table] Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Table] Measurement Frequency Fair Value By Measurement Frequency [Axis] Measurement Frequency Fair Value Measurement Frequency [Domain] Fair Value Recurring Fair Value Measurements Recurring [Member] Fair Value Hierarchy and NAV Fair Value By Fair Value Hierarchy Level [Axis] Fair Value Hierarchy and NAV Fair Value Measurements Fair Value Hierarchy [Domain] Level 1 Fair Value Inputs Level1 [Member] Level 2 Fair Value Inputs Level2 [Member] Level 3 Fair Value Inputs Level3 [Member] Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] Cash equivalents, fair value Total cash equivalents, short-term investments and long-term investments Fair Value Non-recurring Fair Value Measurements Nonrecurring [Member] Financial assets fair value Assets Fair Value Disclosure Liabilities fair value Liabilities Fair Value Disclosure Estimated fair value of term loan Debt Instrument Fair Value Accrued research and development expenses. Accrued general and administrative expenses. Disclosure - Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) [Abstract] Disclosure Balance Sheet Components Schedule Of Accrued Expenses And Other Current Liabilities Details [Abstract] Accrued research and development expenses Accrued Research And Development Expenses Accrued general and administrative expenses Accrued General And Administrative Expenses Lease liability, current portion Operating Lease Liability Current Total accrued expenses and other current liabilities Operating lease commencement date. Lease gross commitment amount. Operating lease commencement date Operating Lease Commencement Month And Year Operating lease term Lessee Operating Lease Term Of Contract Operating leases, gross commitment Lease Gross Commitment Amount Operating Leases, option to renew lease term description Lessee Operating Lease Option To Extend Operating Leases, option to renew lease term Lessee Operating Lease Existence Of Option To Extend Operating leases, renew lease term Lessee Operating Lease Renewal Term Operating leases, lease expense Operating Lease Cost Lessee operating lease extended term of contract. Short term lease additional commitments. Lessee operating lease termination date. Short-term lease gross commitments Short Term Lease Commitment Amount Short-term lease extended term Lessee Operating Lease Extended Term Of Contract Short term lease additional commitments Short Term Lease Additional Commitments Short term lease terminated Lessee Operating Lease Termination Date Short-term lease expense Short Term Lease Cost Cash paid for amounts included in measurement of lease liabilities. Weighted-average remaining lease term for operating leases Operating Lease Weighted Average Remaining Lease Term1 weighted-average discount rate Operating Lease Weighted Average Discount Rate Percent Cash paid for amounts included in measurement of lease liabilities Cash Paid For Amounts Included In Measurement Of Lease Liabilities Debt instrument, extended term. Debt Instrument [Table] Debt Instrument [Table] Debt Instrument Debt Instrument [Axis] Debt Instrument, Name Debt Instrument Name [Domain] Term loan. Term Loan Term Loan [Member] Legal Entity Legal Entity [Axis] Entity Entity [Domain] Silicon valley bank. Silicon Valley Bank Silicon Valley Bank [Member] Warrant Warrant [Member] Class of Warrant or Right Class Of Warrant Or Right [Axis] Class of Warrant or Right Class Of Warrant Or Right [Domain] First tranche term loan. First Tranche Term Loan First Tranche Term Loan [Member] Second tranche term loan. Second Tranche Term Loan Second Tranche Term Loan [Member] Variable Rate Variable Rate [Axis] Variable Rate Variable Rate [Domain] Prime Rate Prime Rate [Member] Statistical Measurement Range [Axis] Statistical Measurement Range [Member] Maximum Maximum [Member] Minimum Minimum [Member] Collaborative Arrangement and Arrangement Other than Collaborative Type Of Arrangement [Axis] Collaborative Arrangement and Arrangement Other than Collaborative Arrangements And Nonarrangement Transactions [Member] First amendment to loan and security agreement. The First Amendment First Amendment To Loan And Security Agreement [Member] Debt Instrument [Line Items] Debt Instrument [Line Items] Debt instrument, extended term Debt Instrument Extended Term Number of shares issuable upon exercise of warrants. Estimated fair value of warrant. Number of shares issuable upon the exercise of warrant Number Of Shares Issuable Upon Exercise Of Warrants Warrants exercise price Class Of Warrant Or Right Exercise Price Of Warrants Or Rights1 Estimated fair value of the warrant Estimated Fair Value Of Warrant Net exercised of common stock Stock Issued During Period Shares Conversion Of Convertible Securities Aggregate principal amount Long Term Debt Repayment of outstanding obligations Repayments Of Debt Debt instrument, maturity date Debt Instrument Maturity Date Debt instrument basis spread variable rate scenario one. Debt instrument frequency of periodic payment scenario one. Debt instrument basis spread variable rate scenario two. Debt instrument frequency of periodic payment scenario two. Debt Instrument Frequency Of Periodic Payment Debt Instrument Frequency Of Periodic Payment Debt instrument basis spread variable rate scenario one Debt Instrument Basis Spread Variable Rate Scenario One Floating interest rate scenario one Debt Instrument Frequency Of Periodic Payment Scenario One Debt instrument basis spread variable rate scenario two Debt Instrument Basis Spread Variable Rate Scenario Two Debt instrument basis spread variable rate scenario two Debt Instrument Frequency Of Periodic Payment Scenario Two Number of monthly installments. End of term payment, percentage. Debt instrument prepayment fee percentage. Number of Monthly Installments Number Of Monthly Installments End of term payment, percentage End Of Term Payment Percentage Debt instrument prepayment fee percentage Debt Instrument Prepayment Fee Percentage Debt instrument unamortized debt issuance costs and discount. Debt issuance costs Deferred Finance Costs Gross Unamortized debt issuance costs and debt discount Debt Instrument Unamortized Debt Issuance Costs And Discount Unamortized debt discount Debt Instrument Unamortized Discount Total Term Loan debt Debt Instrument Carrying Amount Less: unamortized discount and debt issuance costs Debt Instrument Unamortized Discount Premium And Debt Issuance Costs Net Total Term Loan, net Less: Term Loan, current portion Interest payments on debt Interest Expense Debt Aggregate license agreement amount. Additional aggregate license agreement amount. Aggregate license agreement amount Aggregate License Agreement Amount Additional aggregate license agreement amount Additional Aggregate License Agreement Amount Legal fees Legal Fees Schedule Of Stock By Class [Table] Schedule Of Stock By Class [Table] Class Of Stock [Line Items] Class Of Stock [Line Items] Common stock shares authorized Common stock par value per share Common stockholders voting rights Common Stock Voting Rights Common stock dividends declared Dividends Common Stock Award Type Award Type [Axis] Award Type Share Based Compensation Arrangements By Share Based Payment Award Award Type And Plan Name [Domain] Stock Options, Issued and Outstanding Employee Stock Option [Member] Stock options, available for future issuance. Stock Options, Available for Future Issuance Stock Options Available For Future Issuance [Member] Employee Stock Purchase Plan, Available for Future Issuance Employee Stock [Member] Shares reserved for future issuance Common Stock Capital Shares Reserved For Future Issuance Redeemable convertible preferred stock, shares issued Temporary Equity Shares Issued Redeemable convertible preferred stock, shares outstanding Share-based compensation arrangement by share-based payment award, options, early exercised, shares. Schedule Of Share Based Compensation Arrangements By Share Based Payment Award [Table] Schedule Of Share Based Compensation Arrangements By Share Based Payment Award [Table] Plan Name Plan Name [Axis] Plan Name Plan Name [Domain] Two thousand and twenty equity incentive plan. 2020 Equity Incentive Plan Two Thousand And Twenty Equity Incentive Plan [Member] Two thousand and sixteen equity incentive plan. 2016 Equity Incentive Plan Two Thousand And Sixteen Equity Incentive Plan [Member] Performance stock options. Performance Stock Options Performance Stock Options [Member] Employee stock purchase plan. Employee Stock Purchase Plan Employee Stock Purchase Plan [Member] Share Based Compensation Arrangement By Share Based Payment Award [Line Items] Share Based Compensation Arrangement By Share Based Payment Award [Line Items] Shares reserved for issuance Equity incentive plan, terms Share Based Compensation Arrangement By Share Based Payment Award Terms Of Award Number of shares early exercised under any plan Share Based Compensation Arrangement By Share Based Payment Award Options Early Exercised Shares Beginning Balance, Outstanding Stock Options Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding Number Granted, Outstanding Stock Options Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Gross Exercised, Outstanding Stock Options Forfeited, Outstanding Stock Options Share Based Compensation Arrangement By Share Based Payment Award Options Forfeitures In Period Ending Balance, Outstanding Stock Options Vested and expected to vest, Outstanding Stock Options Share Based Compensation Arrangement By Share Based Payment Award Options Vested And Expected To Vest Outstanding Number Vested and exercisable, Outstanding Stock Options Share Based Compensation Arrangement By Share Based Payment Award Options Vested And Expected To Vest Exercisable Number Beginning Balance, Weighted-Average Exercise Price Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding Weighted Average Exercise Price Granted, Weighted-Average Exercise Price Share Based Compensation Arrangements By Share Based Payment Award Options Grants In Period Weighted Average Exercise Price Exercised, Weighted-Average Exercise Price Share Based Compensation Arrangements By Share Based Payment Award Options Exercises In Period Weighted Average Exercise Price Forfeited, Weighted-Average Exercise Price Share Based Compensation Arrangements By Share Based Payment Award Options Forfeitures In Period Weighted Average Exercise Price Ending Balance, Weighted-Average Exercise Price Vested and expected to vest, Weighted-Average Exercise Price Share Based Compensation Arrangement By Share Based Payment Award Options Vested And Expected To Vest Outstanding Weighted Average Exercise Price Vested and exercisable, Weighted-Average Exercise Price Share Based Compensation Arrangement By Share Based Payment Award Options Vested And Expected To Vest Exercisable Weighted Average Exercise Price Weighted-Average Remaining Contractual Life (Years) Sharebased Compensation Arrangement By Sharebased Payment Award Options Outstanding Weighted Average Remaining Contractual Term2 Vested and expected to vest, Weighted-Average Remaining Contractual Life (Years) Sharebased Compensation Arrangement By Sharebased Payment Award Options Vested And Expected To Vest Outstanding Weighted Average Remaining Contractual Term1 Vested and exercisable, Weighted-Average Remaining Contractual Life (Years) Sharebased Compensation Arrangement By Sharebased Payment Award Options Vested And Expected To Vest Exercisable Weighted Average Remaining Contractual Term1 Aggregate Intrinsic Value Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding Intrinsic Value Vested and expected to vest, Aggregate Intrinsic Value Share Based Compensation Arrangement By Share Based Payment Award Options Vested And Expected To Vest Outstanding Aggregate Intrinsic Value Vested and exercisable, Aggregate Intrinsic Value Share Based Compensation Arrangement By Share Based Payment Award Options Vested And Expected To Vest Exercisable Aggregate Intrinsic Value Aggregate intrinsic value of options exercised Share Based Compensation Arrangement By Share Based Payment Award Options Exercises In Period Total Intrinsic Value Shares authorized for issuance Share Based Compensation Arrangement By Share Based Payment Award Number Of Shares Authorized Shares remained available for issuance Share Based Compensation Arrangement By Share Based Payment Award Number Of Shares Available For Grant Weighted-average fair value of options granted Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Weighted Average Grant Date Fair Value Schedule Of Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Table] Schedule Of Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Table] Income Statement Location Income Statement Location [Axis] Income Statement Location Income Statement Location [Domain] Research and Development Research And Development Expense [Member] General and Administrative General And Administrative Expense [Member] Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] Total stock-based compensation expense Allocated Share Based Compensation Expense Share-based compensation arrangement by share-based payment award, term of automatically increase in common stock available for issuance. Percentage of outstanding shares subject to automatic increase in common stock. Options granted to purchase shares of common stock Fair value of modified awards to be recognized over requisite service period Employee Service Share Based Compensation Nonvested Awards Total Compensation Cost Not Yet Recognized Stock Options Stock-based compensation expense Unrecognized stock-based compensation expense Employee Service Share Based Compensation Nonvested Awards Total Compensation Cost Not Yet Recognized Unrecognized stock-based compensation expense expected to be recognized over weighted-average vesting term Employee Service Share Based Compensation Nonvested Awards Total Compensation Cost Not Yet Recognized Period For Recognition1 Maximum percentage of compensation that an employee is allowed to purchase shares Share Based Compensation Arrangement By Share Based Payment Award Maximum Employee Subscription Rate Purchase price of common stock expressed as a percentage of fair market value Sharebased Compensation Arrangement By Sharebased Payment Award Purchase Price Of Common Stock Percent Term of automatically increase in common stock available for issuance Share Based Compensation Arrangement By Share Based Payment Award Term Of Automatically Increase In Common Stock Available For Issuance Percentage of outstanding shares subject to automatic increase in common stock Percentage Of Outstanding Shares Subject To Automatic Increase In Common Stock Shares issued under plan Share Based Compensation Arrangement By Share Based Payment Award Shares Issued In Period Numerator: Net Income Loss [Abstract] Denominator: Weighted Average Number Of Shares Outstanding Diluted Disclosure Items [Abstract] Weighted-average shares of common stock outstanding Schedule Of Antidilutive Securities Excluded From Computation Of Earnings Per Share [Table] Schedule Of Antidilutive Securities Excluded From Computation Of Earnings Per Share [Table] Antidilutive Securities Antidilutive Securities Excluded From Computation Of Earnings Per Share By Antidilutive Securities [Axis] Antidilutive Securities, Name Antidilutive Securities Name [Domain] Shares subject to outstanding common stock options. Shares Subject to Outstanding Common Stock Options Shares Subject To Outstanding Common Stock Options [Member] Estimated shares issuable under the employee stock purchase plan. Estimated Shares Issuable Under ESPP Estimated Shares Issuable Under Employee Stock Purchase Plan [Member] Shares subject to common stock warrants. Shares Subject to Common Stock Warrants Shares Subject To Common Stock Warrants [Member] Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] Potential dilutive securities excluded from diluted net loss per share Antidilutive Securities Excluded From Computation Of Earnings Per Share Amount Subsequent Event [Table] Subsequent Event [Table] Title of Individual Title Of Individual [Axis] Title of Individual Title Of Individual With Relationship To Entity [Domain] Certain Executive Officers Executive Officer [Member] Subsequent Event [Line Items] Subsequent Event [Line Items]