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Disclosure - Financial Instruments link:presentationLink link:calculationLink link:definitionLink 0000010 - Disclosure - Property and Equipment, net link:presentationLink link:calculationLink link:definitionLink 0000011 - Disclosure - Prepaid Expenses and Other Current Assets link:presentationLink link:calculationLink link:definitionLink 0000012 - Disclosure - Accrued Liabilities and Other Current Liabilities link:presentationLink link:calculationLink link:definitionLink 0000013 - Disclosure - Debt link:presentationLink link:calculationLink link:definitionLink 0000014 - Disclosure - Novartis Collaboration and License Agreement ("the Novartis Agreement") link:presentationLink link:calculationLink link:definitionLink 0000015 - Disclosure - Regent of the University of California License Agreement (the "UC Agreement") link:presentationLink link:calculationLink link:definitionLink 0000016 - Disclosure - Adimab Development and Option Agreement (the "Adimab Agreement") link:presentationLink link:calculationLink link:definitionLink 0000017 - Disclosure - Redeemable Convertible Preferred Stock link:presentationLink link:calculationLink link:definitionLink 0000018 - Disclosure - Common Stock link:presentationLink link:calculationLink link:definitionLink 0000019 - Disclosure - Equity Incentive Plans and Stock-Based Compensation link:presentationLink link:calculationLink link:definitionLink 0000020 - Disclosure - Income Taxes link:presentationLink link:calculationLink link:definitionLink 0000021 - Disclosure - Commitments and Contingencies link:presentationLink link:calculationLink link:definitionLink 0000022 - Disclosure - Leases link:presentationLink link:calculationLink link:definitionLink 0000023 - Disclosure - Related Party Transactions link:presentationLink link:calculationLink link:definitionLink 0000024 - Disclosure - Defined Contribution Plan link:presentationLink link:calculationLink link:definitionLink 0000025 - Disclosure - Net Loss Per Share Attributable to Common Stockholders link:presentationLink link:calculationLink link:definitionLink 0000026 - 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Novartis Collaboration and License Agreement ("the Novartis Agreement") - Performance Obligation (Details) link:presentationLink link:calculationLink link:definitionLink 0000046 - Disclosure - Regent of the University of California License Agreement (the "UC Agreement") (Details) link:presentationLink link:calculationLink link:definitionLink 0000047 - Disclosure - Adimab Development and Option Agreement (the "Adimab Agreement") (Details) link:presentationLink link:calculationLink link:definitionLink 0000048 - Disclosure - Redeemable Convertible Preferred Stock (Details) link:presentationLink link:calculationLink link:definitionLink 0000049 - Disclosure - Common Stock - Narrative (Details) link:presentationLink link:calculationLink link:definitionLink 0000050 - Disclosure - Common Stock - Schedule of Shares Reserved for Future Issuance (Details) link:presentationLink link:calculationLink link:definitionLink 0000051 - Disclosure - Equity Incentive Plans and Stock-Based Compensation - Equity Incentive Plan - 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Summary of Option Activity Under the 2015 Plan and 2020 Plan (Details) link:presentationLink link:calculationLink link:definitionLink 0000057 - Disclosure - Equity Incentive Plans and Stock-Based Compensation - Schedule of TSR PSU Valuation Assumptions (Details) link:presentationLink link:calculationLink link:definitionLink 0000058 - Disclosure - Equity Incentive Plans and Stock-Based Compensation - Summary of Stock-based Compensation Expense (Details) link:presentationLink link:calculationLink link:definitionLink 0000059 - Disclosure - Equity Incentive Plans and Stock-Based Compensation - Stock-Based Compensation - Narrative (Details) link:presentationLink link:calculationLink link:definitionLink 0000060 - Disclosure - Equity Incentive Plans and Stock-Based Compensation - 2020 Employee Stock Purchase Plan - Narrative (Details) link:presentationLink link:calculationLink link:definitionLink 0000061 - Disclosure - Equity Incentive Plans and Stock-Based Compensation - 2020 Employee Stock Purchase Plan - 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