Stock-Based Compensation - Schedule of Shares Reserved (Details) - shares	Dec. 31, 2023	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares reserved for issuance (in shares)	6,323,272
Common stock employee purchase plans
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares reserved for issuance (in shares)	2,345,263
Common stock employee purchase plans
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares in reserve (in shares)	5,392,206
2020 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares in reserve (in shares)	3,941,429
Number of shares available for grant (in shares)	2,426,412	4,000,000