Stockholders' Equity - Activities Under Equity Plan (Details)	9 Months Ended
	Sep. 30, 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)	970,344
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)	(9,933)
Equity securities available, ending balance (in shares)	99,829
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)	(305,360)