Stockholders' Equity - Activities Under Equity Plan (Details)	3 Months Ended
	Mar. 31, 2024 shares
2020 Equity Plan
Share-based Compensation Arrangement By Share-based Payment Award, Shares Authorized [Roll Forward]
Equity securities available, beginning balance (in shares)	1,275,704
Equity securities available, ending balance (in shares)	986,619
ESPP
Share-based Compensation Arrangement By Share-based Payment Award, Shares Authorized [Roll Forward]
Equity securities available, beginning balance (in shares)	109,762
ESPP common stock purchased by eligible employees (in shares)	0
Equity securities available, ending balance (in shares)	109,762
Unvested RSUs, DSUs and Restricted Stock | 2020 Equity Plan
Share-based Compensation Arrangement By Share-based Payment Award, Shares Authorized [Roll Forward]
RSU, DSU, and restricted stock awarded to eligible employees, net of forfeitures (in shares)	(289,085)