Stock-Based Compensation Expense - Additional Information (Details) - USD ($)						1 Months Ended		12 Months Ended
	Jan. 01, 2024	Jan. 01, 2023	Sep. 03, 2022	Jun. 30, 2022	Jun. 01, 2022	Oct. 31, 2023	Apr. 30, 2020	Dec. 31, 2023	Dec. 31, 2022	Dec. 09, 2022	Feb. 28, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted								1,860,647
Shares of common stock reserved for future issuances								23,905,324
Stock-based compensation expense recorded as liability								$ 255,000
Stock-based compensation expense								$ 5,887,000	$ 5,447,000
Weighted-average fair value of options granted to employees, directors and consultants								$ 2.13	$ 3.40
Aggregate intrinsic value of stock options exercised								$ 100,000	$ 5,000
Restricted stock units outstanding shares, Granted								115,790
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted								356,083
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unvested stock options expected to be recognized over a weighted-average period								2 years 10 months 24 days
Restricted stock units outstanding shares, Granted								154,926
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period								4 years
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option expiration period								10 years
Certain Executives
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted								630,000
2020 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuances							2,100,000
Maximum number of common shares issued							8,800,000
Percentage of common shares increase automatically in each year							4.00%
Increase in Shares available for grant		1,273,106
Number of shares available for future grant								1,544,538
2020 Plan | Subsequent Events
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Increase in Shares available for grant	2,288,582
2020 ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted								0
Shares of common stock reserved for future issuances							150,000
Maximum number of common shares issued		159,138					987,500
Annual increase in number of shares available for issuance as percentage of outstanding shares common stock on final day of immediately preceding fiscal year							0.50%
Purchase price of shares as percentage lower of fair market value of common stock							85.00%
2020 ESPP | Subsequent Events
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum number of common shares issued	286,072
Market-Based Condition Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted								1,648,002
Stock-based compensation expense								$ 2,000,000
Inducement Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuances						2,763,002				2,413,002	2,763,002
Increase in Shares available for grant			1,813,002	1,703,002	1,473,002	350,000
Number of shares available for future grant								320,000