Entity Central Index Key Operating lease liabilities payments due thereafter. Cover [Abstract] Document Type Document Type Amendment Flag Amendment Flag Document Period End Date Document Period End Date 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 Registrant Name Entity Registrant Name Entity Central Index Key Entity File Number Entity File Number Entity Tax Identification Number Entity Tax Identification Number Entity Incorporation, State or Country Code Entity Incorporation State Country Code 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 Entity Current Reporting Status Entity Current Reporting Status Entity Interactive Data Current Entity Interactive Data Current Entity Filer Category Entity Filer Category Entity Small Business Entity Small Business Entity Emerging Growth Company Entity Emerging Growth Company Entity Ex Transition Period Entity Ex Transition Period Entity Common Stock, Shares Outstanding Entity Common Stock Shares Outstanding Entity Shell Company Entity Shell Company Title of 12(b) Security Security12b Title Trading Symbol Trading Symbol Security Exchange Name Security Exchange Name Document Quarterly Report Document Quarterly Report Document Transition Report Document Transition Report Payable and accrued liabilities due to related party. Statement Of Financial Position [Abstract] Assets Assets [Abstract] Current assets: Assets Current [Abstract] Cash and cash equivalents Cash And Cash Equivalents At Carrying Value Prepaid expenses and other current assets Prepaid Expense And Other Assets Current Total current assets Assets Current Property and equipment, net Property Plant And Equipment Net 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 Payable and accrued liabilities due to related party Payable And Accrued Liabilities Due To Related Party Current Accrued expenses and other current liabilities Accrued Liabilities And Other Liabilities Total current liabilities Liabilities Current Other non-current liabilities Other Liabilities Noncurrent Total liabilities Liabilities Commitments and contingencies (Note 11) Commitments And Contingencies Stockholders’ equity Stockholders Equity [Abstract] Common stock, $0.001 par value; 1,000,000,000 shares authorized as of June 30, 2021 and December 31, 2020, respectively; 40,325,270 and 39,844,522 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 deficit Retained Earnings Accumulated Deficit Total stockholders’ equity Stockholders Equity Total liabilities and stockholders’ equity Liabilities And Stockholders Equity 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] Related-party revenue Revenue From Contract With Customer Excluding Assessed Tax Type of Revenue [Extensible List] Type Of Revenue Extensible List Operating expenses: Operating Expenses [Abstract] Research and development Research And Development Expense General and administrative General And Administrative Expense Cost of services for related-party revenue Costs And Expenses Related Party Total operating expenses Operating Expenses Loss from operations Operating Income Loss Interest expense Interest Income Expense Nonoperating Net Other income (expense), net Other Nonoperating Income Expense Loss before income taxes Income Loss From Continuing Operations Before Income Taxes Extraordinary Items Noncontrolling Interest Income tax provision Income Tax Expense Benefit Net loss and comprehensive loss Net Income Loss Cumulative dividends allocated to preferred stockholders Preferred Stock Dividends Income Statement Impact Net loss attributable to common stockholders Net Income Loss Available To Common Stockholders Basic Net loss per share attributable to common stockholders, basic and diluted Income Loss From Continuing Operations Per Basic And Diluted Share Weighted-average shares of common stock used to compute net loss per share attributable to common stockholders, basic and diluted Weighted Average Number Of Share Outstanding Basic And Diluted Stock issued during period value vesting of early exercised stock options. Temporary equity, stock issued during period, share, new issues. 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 Deficit Retained Earnings [Member] Class of Stock Statement Class Of Stock [Axis] Class of Stock Class Of Stock [Domain] Convertible Preferred Stock Convertible Preferred Stock [Member] Statement [Line Items] Statement [Line Items] Balance Temporary equity, shares Temporary Equity Shares Outstanding Temporary equity, balance Temporary Equity Carrying Amount Attributable To Parent Balance, shares Shares Outstanding Issuance of common stock under equity incentive plan Stock Issued During Period Value Share Based Compensation Issuance of common stock under equity incentive plans, shares Stock Issued During Period Shares Share Based Compensation Issuance of common stock under employee stock purchase plan Stock Issued During Period Value Employee Stock Purchase Plan Issuance of common stock under employee stock purchase plan, shares Stock Issued During Period Shares Employee Stock Purchase Plans Vesting of early exercised stock options Stock Issued During Period Value Vesting Of Early Exercised Stock Options Stock-based compensation Adjustments To Additional Paid In Capital Sharebased Compensation Requisite Service Period Recognition Value Net loss Issuance of convertible preferred stock, net of issuance costs Temporary Equity Stock Issued During Period Value New Issues Issuance of convertible preferred stock, net of issuance costs, shares Temporary Equity Stock Issued During Period Share New Issues Balance Temporary equity, shares Temporary equity, balance Balance, shares Non-cash lease costs. Changes in fair value of compound derivative liability and warrants. Increase (Decrease) In Other Assets Increase (decrease) in payable and accrued liabilities due to related parties current. Payment of Deferred offering costs. Vesting of early exercised stock options. Right-of-use asset acquired under operating leases. Right-of-use asset acquired under finance leases. Statement Of Cash Flows [Abstract] 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] Depreciation and amortization Depreciation Depletion And Amortization Non-cash lease costs Non Cash Lease Costs Stock-based compensation Share Based Compensation Amortization of term loan discount and issuance costs Amortization Of Financing Costs And Discounts Changes in fair value of compound derivative liability and warrants Changes In Fair Value Of Compound Derivative Liability And Warrants Changes in operating assets and liabilities Increase Decrease In Operating Capital [Abstract] Receivables due from related-party Increase Decrease In Due From Related Parties Current Prepaid expenses and other current assets Increase Decrease In Prepaid Deferred Expense And Other Assets Other assets Increase Decrease In Other Assets Accounts payable Increase Decrease In Accounts Payable Payable and accrued liabilities due to related party Increase Decrease In Payable And Accrued Liabilities Due To Related Parties Current Accrued expenses and other current liabilities Increase Decrease In Other Accrued Liabilities Other non-current liabilities Increase Decrease In Other Noncurrent Liabilities Net cash used in operating activities Net Cash Provided By Used In Operating Activities Investing activities Net Cash Provided By Used In Investing Activities [Abstract] Purchase of property and equipment Payments To Acquire Property Plant And Equipment Net cash used in investing activities Net Cash Provided By Used In Investing Activities Financing activities Net Cash Provided By Used In Financing Activities [Abstract] Proceeds from exercise of stock options under equity incentive plan Proceeds From Stock Options Exercised Proceeds from issuance of common stock pursuant to employee stock purchase plan Proceeds From Stock Plans Proceeds from issuance of convertible preferred stock, net Proceeds From Issuance Of Convertible Preferred Stock Principal payments on finance lease obligations Finance Lease Principal Payments Deferred offering costs Payment For Deferred Offering Costs Net cash provided by financing activities Net Cash Provided By Used In Financing Activities Net increase (decrease) in cash and cash equivalents Cash Cash Equivalents Restricted Cash And Restricted Cash Equivalents Period Increase Decrease Excluding Exchange Rate Effect Cash and cash equivalents at beginning of period Cash Cash Equivalents Restricted Cash And Restricted Cash Equivalents Cash and cash equivalents at end of period Supplemental disclosure Supplemental Cash Flow Information [Abstract] Cash paid for interest Interest Paid Net Cash paid for taxes Income Taxes Paid Supplemental disclosure of non-cash investing and financing activities Cash Flow Noncash Investing And Financing Activities Disclosure [Abstract] Vesting of early exercised stock options Vesting Of Early Exercised Stock Options Deferred offering costs incurred but not paid Capital Expenditures Incurred But Not Yet Paid Right-of-use asset acquired under operating leases Right Of Use Asset Acquired Under Operating Leases Right-of-use asset acquired under finance leases Right Of Use Asset Acquired Under Finance Leases Acquisition of property and equipment in accounts payable and other current liabilities Noncash Or Part Noncash Acquisition Fixed Assets Acquired1 Accounting Policies [Abstract] ORGANIZATION Organization Consolidation And Presentation Of Financial Statements Disclosure [Text Block] SIGNIFICANT ACCOUNTING POLICIES Significant Accounting Policies [Text Block] Fair Value Disclosures [Abstract] FAIR VALUE OF FINANCIAL INSTRUMENTS Fair Value Disclosures [Text Block] Balance Sheet Related Disclosures [Abstract] BALANCE SHEET COMPONENTS Supplemental Balance Sheet Disclosures [Text Block] Lessee operating and financing leases. Leases [Abstract] LEASES Lessee Operating And Financing Leases [Text Block] Debt Disclosure [Abstract] TERM LOAN AND RELATED DERIVATIVES Debt Disclosure [Text Block] Equity [Abstract] STOCKHOLDERS' EQUITY Stockholders Equity Note Disclosure [Text Block] Disclosure Of Compensation Related Costs Sharebased Payments [Abstract] STOCK-BASED COMPENSATION Disclosure Of Compensation Related Costs Share Based Payments [Text Block] Related Party Transactions [Abstract] RELATED-PARTY TRANSACTIONS Related Party Transactions Disclosure [Text Block] Earnings Per Share [Abstract] NET LOSS PER SHARE ATTRIBUTABLE TO COMMON STOCKHOLDERS Earnings Per Share [Text Block] Commitments And Contingencies Disclosure [Abstract] COMMITMENTS AND CONTINGENCIES Commitments And Contingencies Disclosure [Text Block] Basis of Presentation Basis Of Accounting Policy Policy [Text Block] Reclassifications Prior Period Reclassification Adjustment Description Use of Estimates Use Of Estimates Significant accounting policies policy. Significant Accounting Policies Policy Significant Accounting Policies Policy [Text Block] Leases Lessee Leases Policy [Text Block] Adopted Accounting Pronouncements New Accounting Pronouncements Policy Policy [Text Block] Financial Assets Measured at Fair Value on Recurring Basis Schedule Of Fair Value Assets And Liabilities Measured On Recurring Basis Table [Text Block] Schedule of Components of Property and Equipment Property Plant And Equipment [Text Block] Schedule of accrued expenses and other current liabilities. Components of Accrued Expenses and Other Current Liabilities Schedule Of Accrued Expenses And Other Current Liabilities Table [Text Block] Lessee operating and financing lease liability maturity. Schedule of Maturities of Operating and Finance Lease Liabilities Lessee Operating And Financing Lease Liability Maturity Table [Text Block] Components of Lease Costs Lease Cost Table [Text Block] Supplemental cash flow information related to leases. Supplemental Cash Flow Information Related to Leases Supplemental Cash Flow Information Related To Leases Table [Text Block] Schedule of Future Minimum Lease Commitments under Operating Leases Schedule Of Future Minimum Rental Payments For Operating Leases Table [Text Block] Schedule of common stock reserved for future issuance. Common Stock Reserved for Future Issuance on Converted Basis Schedule Of Common Stock Reserved For Future Issuance Table [Text Block] Summary of Total Stock Based Compensation Expense Schedule Of Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Text Block] Computation of Basic and Diluted Net Loss per Share Schedule Of Earnings Per Share Basic And Diluted Table [Text Block] Summary of Outstanding Potentially Dilutive Securities Were Excluded from Computation of Diluted Net Loss Per Share Schedule Of Antidilutive Securities Excluded From Computation Of Earnings Per Share [Text Block] Significant accounting policies. Significant accounting policies. Significant Accounting Policies [Table] Significant Accounting Policies [Table] Revision of Prior Period Restatement [Axis] Revision of Prior Period Restatement [Domain] Revision of Prior Period, Reclassification, Adjustment Revision Of Prior Period Reclassification Adjustment [Member] Accounting Standards Update Adjustments For New Accounting Pronouncements [Axis] Accounting Standards Update Type Of Adoption [Member] ASU 2016-02 Accounting Standards Update201602 [Member] ASU 2019-12 Accounting Standards Update201912 [Member] Significant Accounting Policies [Line Items] Significant Accounting Policies [Line Items] Payable and accrued liabilities due to related-party Lease, practical expedients, package [true false] Lease Practical Expedients Package Change in Accounting Principle, Accounting Standards Update, Adopted [true false] 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 [true false] Change In Accounting Principle Accounting Standards Update Immaterial Effect Operating lease ROU assets Operating Lease Right Of Use Asset Finance lease ROU assets Finance Lease Right Of Use Asset Operating lease liabilities Operating Lease Liability Finance lease liabilities Finance Lease Liability Finance lease, right-of-use asset, statement of financial position [extensible list] Finance Lease Right Of Use Asset Statement Of Financial Position Extensible List Finance lease, liability, current, statement of financial position [extensible list] Finance Lease Liability Current Statement Of Financial Position Extensible List Finance lease, liability, noncurrent, statement of financial position [extensible list] Finance Lease Liability Noncurrent Statement Of Financial Position Extensible List Operating lease, right-of-use asset, statement of financial position [extensible list] Operating Lease Right Of Use Asset Statement Of Financial Position Extensible List Operating lease, liability, current, statement of financial position [extensible list] Operating Lease Liability Current Statement Of Financial Position Extensible List Operating lease, liability, noncurrent, statement of financial position [extensible list] Operating Lease Liability Noncurrent Statement Of Financial Position Extensible List 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 on Recurring Basis 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] Asset Class Fair Value By Asset Class [Axis] Asset Class Fair Value Assets Measured On Recurring Basis Unobservable Input Reconciliation By Asset Class [Domain] Money Market Funds Money Market Funds [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] Financial assets Assets Fair Value Disclosure [Abstract] Cash equivalents Cash And Cash Equivalents Fair Value Disclosure Financial liabilities fair value disclosure Financial Liabilities Fair Value Disclosure Fair value assets transferred from level 1 to level 2 Fair Value Assets Level1 To Level2 Transfers Amount Fair value assets transferred from level 2 to level 1 Fair Value Assets Level2 To Level1 Transfers Amount Fair value liabilities transferred from level 1 to level 2 Fair Value Liabilities Level1 To Level2 Transfers Amount Fair value liabilities transferred from level 2 to level 1 Fair Value Liabilities Level2 To Level1 Transfers Amount Fair value assets transferred into level 3 Fair Value Measurement With Unobservable Inputs Reconciliation Recurring Basis Asset Transfers Into Level3 Fair value assets transferred out of level 3 Fair Value Measurement With Unobservable Inputs Reconciliation Recurring Basis Asset Transfers Out Of Level3 Fair value liabilities transferred into level 3 Fair Value Measurement With Unobservable Inputs Reconciliation Liability Transfers Into Level3 Fair value liabilities transferred out of level 3 Fair Value Measurement With Unobservable Inputs Reconciliation Liability Transfers Out Of Level3 Schedule Of Property Plant And Equipment [Table] Schedule Of Property Plant And Equipment [Table] Long-Lived Tangible Asset Property Plant And Equipment By Type [Axis] Long-Lived Tangible Asset Property Plant And Equipment Type [Domain] Computer hardware and software. Computer Hardware and Software Computer Hardware And Software [Member] Furniture and Fixtures Furniture And Fixtures [Member] Leasehold Improvements Leasehold Improvements [Member] Property Plant And Equipment [Line Items] Property Plant And Equipment [Line Items] Property and equipment, gross Property Plant And Equipment Gross Less: accumulated depreciation and amortization Accumulated Depreciation Depletion And Amortization Property Plant And Equipment Total property and equipment, net Depreciation and amortization expense Depreciation And Amortization Accrued clinical costs and non clinical costs current. Accrued contract manufacturing current. Operating lease liability with related party current. Accrued federal income tax. Accrued clinical and nonclinical study costs Accrued Clinical And Non Clinical Costs Current Accrued compensation and related expenses Employee Related Liabilities Current Accrued contract manufacturing Accrued Contract Manufacturing Current Finance lease liabilities, current Finance Lease Liability Current Accrued professional fees Accrued Professional Fees Current Other Other Accrued Liabilities Current Operating lease liabilities, current Operating Lease Liability With Related Party Current Accrued Federal Income Tax Accrued Federal Income Tax Total accrued expenses and other current liabilities Lessee, operating lease commencing end date. Lessee Lease Description [Table] Lessee Lease Description [Table] Office space. Office Space at 866 Malcolm Road, Burlingame, California Office Space [Member] Office space one. Office Space at 333 Allerton Avenue, South San Francisco, California Office Space One [Member] Lessee Lease Description [Line Items] Lessee Lease Description [Line Items] Lessee, operating lease term of contract Lessee Operating Lease Term Of Contract Lessee, operating lease commencing end date Lessee Operating Lease Commencing End Date Option to extend term Lessee Finance Lease Option To Extend Lessee area of operating lease. Lessee, operating lease early entry date. Area of operating lease Lessee Area Of Operating Lease Operating lease, description Lessee Operating Lease Description Existence of option to extend Lessee Operating Lease Existence Of Option To Extend Lessee, operating lease early entry date Lessee Operating Lease Early Entry Date Option to extend term Lessee Operating Lease Option To Extend Lessee, Operating Lease, Liability, Payment, Due [Abstract] Operating Lease Liabilities Payments Due [Abstract] 2021 (remaining six months) Lessee Operating Lease Liability Payments Remainder Of Fiscal Year 2022 Lessee Operating Lease Liability Payments Due Next Rolling Twelve Months 2023 Lessee Operating Lease Liability Payments Due In Rolling Year Two 2024 Lessee Operating Lease Liability Payments Due In Rolling Year Three 2025 Lessee Operating Lease Liability Payments Due In Rolling Year Four Thereafter Operating Lease Liabilities Payments Due Thereafter Total lease payments Lessee Operating Lease Liability Payments Due Less: imputed interest Lessee Operating Lease Liability Undiscounted Excess Amount Lease liabilities: current Operating Lease Liability Current Lease liabilities: non-current Operating Lease Liability Noncurrent Total lease liabilities Weighted average remaining lease term (in years) Operating Lease Weighted Average Remaining Lease Term1 Weighted average discount rate Operating Lease Weighted Average Discount Rate Percent Finance Lease, Liability, Payment, Due [Abstract] Finance Lease Liabilities Payments Due [Abstract] 2021 (remaining six months) Finance Lease Liability Payments Remainder Of Fiscal Year 2022 Finance Lease Liability Payments Due In Next Rolling Twelve Months 2023 Finance Lease Liability Payments Due In Rolling Year Two Total lease payments Finance Lease Liability Payments Due Less: imputed interest Finance Lease Liability Undiscounted Excess Amount Finance leases: non-current Finance Lease Liability Noncurrent Total lease liabilities Weighted average remaining lease term (in years) Finance Lease Weighted Average Remaining Lease Term1 Weighted average discount rate Finance Lease Weighted Average Discount Rate Percent Balance Sheet Location Balance Sheet Location [Axis] Balance Sheet Location Balance Sheet Location [Domain] Accrued expenses and other current liabilities and payable and accrued liabilities due to related party. Accrued Expenses and Other Current Liabilities and Payable and Accrued Liabilities Due to Related Party Accrued Expenses And Other Current Liabilities And Payable And Accrued Liabilities Due To Related Party [Member] Operating current lease liabilities Finance current lease liabilities Variable lease cost and other, net. Operating lease cost Operating Lease Cost Variable lease cost and other, net Variable Lease Cost And Other Net Finance lease cost, Amortization of right-of-use assets Finance Lease Right Of Use Asset Amortization Finance lease cost, Interest Finance Lease Interest Expense Total lease cost Lease Cost Cash paid for amounts included in the measurement of lease liabilities. Right-of-use asset acquired under leases. Cash paid for amounts included in the measurement of lease liabilities: Cash Paid For Amounts Included In Measurement Of Lease Liabilities [Abstract] Operating cash flows from operating leases Operating Lease Payments Operating cash flows from finance leases Finance Lease Interest Payment On Liability Financing cash flows from finance leases Right-of-use asset acquired under leases Right Of Use Asset Acquired Under Leases [Abstract] Operating leases Right Of Use Asset Obtained In Exchange For Operating Lease Liability Finance leases Right Of Use Asset Obtained In Exchange For Finance Lease Liability 2021 Operating Leases Future Minimum Payments Remainder Of Fiscal Year 2022-2023 Operating Leases Future Minimum Payments Due In Two And Three Years Total future minimum lease payments Operating Leases Future Minimum Payments Due Rent expense Operating Leases Rent Expense Net Debt Instrument [Table] Debt Instrument [Table] Debt Instrument Debt Instrument [Axis] Debt Instrument, Name Debt Instrument Name [Domain] Loan agreement. Loan Agreement Loan Agreement [Member] Series B convertible preferred stock. Series B Convertible Preferred Stock Series B Convertible Preferred Stock [Member] Liability Class Fair Value By Liability Class [Axis] Fair Value by Liability Class Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation By Liability Class [Domain] Compound derivative liability. Compound Derivative Liability Compound Derivative Liability [Member] Debt Instrument [Line Items] Debt Instrument [Line Items] Term loan, principal amount Debt Instrument Face Amount Convertible preferred stock warrants value converted into common stock. Warrant liability converted into common stock Convertible Preferred Stock Warrants Value Converted Into Common Stock Fair value of compound derivative liability Fair Value Measurement With Unobservable Inputs Reconciliations Recurring Basis Liability Value Increase in fair value of compound derivative liability Fair Value Measurement With Unobservable Inputs Reconciliation Recurring Basis Liability Period Increase Decrease Increase in fair value of warrant liability Fair Value Adjustment Of Warrants Schedule Of Stock By Class [Table] Schedule Of Stock By Class [Table] Undesignated preferred stock. Undesignated Preferred Stock Undesignated Preferred Stock [Member] Class Of Stock [Line Items] Class Of Stock [Line Items] Convertible preferred stock, shares authorized Temporary Equity Shares Authorized Antidilutive Securities Antidilutive Securities Excluded From Computation Of Earnings Per Share By Antidilutive Securities [Axis] Antidilutive Securities, Name Antidilutive Securities Name [Domain] Stock options issued and outstanding. Stock Options Issued and Outstanding Stock Options Issued And Outstanding [Member] Stock options authorized for future issuance. Stock Options Authorized for Future Issuance Stock Options Authorized For Future Issuance [Member] Employee stock purchase plan shares authorized for future issuance. Employee Stock Purchase Plan Shares Authorized for Future Issuance Employee Stock Purchase Plan Shares Authorized For Future Issuance [Member] Common stock reserved for future issuance Common Stock Capital Shares Reserved For Future Issuance 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] Amended and restated 2020 equity incentive plan. 2020 Plan Amended And Restated Two Thousand Twenty Equity Incentive Plan [Member] Statistical Measurement Range [Axis] Statistical Measurement Range [Member] Maximum Maximum [Member] Minimum [Member] Minimum [Member] Award Type Award Type [Axis] Award Type Share Based Compensation Arrangements By Share Based Payment Award Award Type And Plan Name [Domain] Twenty thousand and twenty employee stock purchase plan. ESPP Twenty Thousand And Twenty 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 future issuance Share-based compensation arrangement by share-based payment award, number of additional shares reserved for future issuance. Maximum percentage of additional shares reserved for future issuance Share Based Compensation Arrangement By Share Based Payment Award Percentage Of Outstanding Stock Maximum Number of additional shares reserved for future issuance Share Based Compensation Arrangement By Share Based Payment Award Number Of Additional Shares Reserved For Future Issuance Share-based compensation arrangement by share-based payment award, authorized amount. Share-based compensation arrangement by share-based payment award, maximum offering period. Share-based compensation arrangement by share-based payment award, purchase of common sock at lower of closing price, percentage. Percentage of eligible compensation withheld Sharebased Compensation Arrangement By Sharebased Payment Award Award Vesting Rights Percentage Share-based compensation, authorized amount Share Based Compensation Arrangement By Share Based Payment Award Authorized Amount Share-based compensation, number of shares authorized Share Based Compensation Arrangement By Share Based Payment Award Number Of Shares Authorized Share-based compensation, maximum offering period Share Based Compensation Arrangement By Share Based Payment Award Maximum Offering Period Share-based Compensation, lower of closing price, percentage Share Based Compensation Arrangement By Share Based Payment Award Purchase Of Common Sock At Lower Of Closing Price Percentage Number of shares purchased Share Based Compensation Arrangement By Share Based Payment Award Shares Purchased For Award 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] Total stock-based compensation expense Allocated Share Based Compensation Expense Initial term of agreement with related party. Related party markup cost percentage. Number of company's investors who are investors in related party as well. Related party agreement automatically renewal additional term unless terminated. Schedule Of Related Party Transactions By Related Party [Table] Schedule Of Related Party Transactions By Related Party [Table] Related Party Related Party Transactions By Related Party [Axis] Related Party Related Party [Domain] Tollnine. Tollnine Tollnine [Member] Collaborative Arrangement and Arrangement Other than Collaborative Type Of Arrangement [Axis] Collaborative Arrangement and Arrangement Other than Collaborative Arrangements And Nonarrangement Transactions [Member] Research and development services agreement. Research and Development Services Agreement Research And Development Services Agreement [Member] Tallac therapeutics. Tallac Therapeutics Tallac Therapeutics [Member] Collaboration Agreements. Collaboration Agreement Collaboration Agreements [Member] Related Party Transaction [Line Items] Related Party Transaction [Line Items] Number of company's investors who are investors in related party as well Number Of Company S Investors Who Are Investors In Related Party As Well Initial term of agreement with related party Initial Term Of Agreement With Related Party Agreement automatically renewal additional term unless terminated Related Party Agreement Automatically Renewal Additional Term Unless Terminated Markup cost in percentage Related Party Markup Cost Percentage Research and development costs Accrued expenses due Due To Related Parties Current And Noncurrent Numerator: Net Income Loss [Abstract] Less: cumulative preferred dividends allocated to preferred stockholders Preferred Stock Dividends And Other Adjustments Denominator: Weighted Average Number Of Shares Outstanding [Abstract] Weighted-average shares of common stock outstanding Weighted Average Number Of Shares Outstanding Basic Net loss per share attributable to common stockholders, basic and diluted Earnings Per Share Basic And Diluted Schedule Of Antidilutive Securities Excluded From Computation Of Earnings Per Share [Table] Schedule Of Antidilutive Securities Excluded From Computation Of Earnings Per Share [Table] Warrants to purchase convertible preferred stock. Warrants to Purchase Convertible Preferred Stock Warrant To Purchase Convertible Preferred Stock [Member] Common stock subject to repurchase. Common Stock Subject to Repurchase Common Stock Subject To Repurchase [Member] Estimated common stock issuable under the employee stock purchase plan. Estimated Common Stock Issuable Under the Employee Stock Purchase Plan Estimated Common Stock Issuable Under Employee Stock Purchase Plan [Member] Options issued and outstanding. Options Issued and Outstanding Options Issued And Outstanding [Member] Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] Antidilutive securities excluded from computation of earnings per share Antidilutive Securities Excluded From Computation Of Earnings Per Share Amount Nonrefundable license royalty and patent expenses. Clinical and regulatory milestones payments. Milestone payments related to clinical and regulatory. Commitments and contingencies. Commitments and Contingencies. Commitments And Contingencies [Table] Commitments And Contingencies [Table] Exclusive equity agreement. Exclusive Equity Agreement Exclusive Equity Agreement [Member] Legal Entity Legal Entity [Axis] Entity Entity [Domain] Stanford Junior University. Stanford Junior University Stanford Junior University [Member] Commercial license agreement. Commercial License Agreement Commercial License Agreement [Member] Selexis SA. Selexis SA Selexis S A [Member] Commercial antibody agreement. Commercial Antibody Agreement Commercial Antibody Agreement [Member] Crystal Bioscience Inc. Crystal Bioscience Inc Crystal Bioscience Inc [Member] Master service agreement. Master Service Agreement Master Service Agreement [Member] Second drug product manufacturer. Two Drug Product Manufacturer Second Drug Product Manufacturer [Member] Loss Contingency Nature Loss Contingencies By Nature Of Contingency [Axis] Loss Contingency, Nature Loss Contingency Nature [Domain] Indemnification Agreement Indemnification Guarantee [Member] Commitments And Contingencies [Line Items] Commitments And Contingencies [Line Items] Nonrefundable license royalty and patent expenses Nonrefundable License Royalty And Patent Expenses Clinical and regulatory milestones payments Clinical And Regulatory Milestones Payments Milestone payments related to clinical and regulatory Milestone Payments Related To Clinical And Regulatory Initial term of agreement. Renewal periods of agreement. Guarantee obligations Contractual Obligation Initial term of agreement Initial Term Of Agreement Renewal periods of agreement Renewal Periods Of Agreement Future purchase obligations Purchase Obligation