Stock-Based Compensation Expense - Additional Information (Details) - USD ($)								1 Months Ended			12 Months Ended
	Jan. 01, 2025	Jan. 01, 2024	May 25, 2023	Jan. 01, 2023	Sep. 03, 2022	Jun. 30, 2022	Jun. 01, 2022	Mar. 31, 2024	Oct. 31, 2023	Apr. 30, 2020	Dec. 31, 2024	Dec. 31, 2023	Dec. 09, 2022	Feb. 28, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted											2,605,002
Shares of common stock reserved for future issuances											19,348,497
Stock-based compensation expense recorded as liability											$ 0	$ 255,000
Stock-based compensation expense											$ 6,716,000	$ 5,887,000
Weighted-average fair value of options granted to employees, directors and non-employees											$ 2.80	$ 2.13
Aggregate intrinsic value of stock options exercised											$ 100,000	$ 100,000
Restricted stock units outstanding shares, Granted											2,332,527
Exercise price per share, granted											$ 4.89
Risk-free interest rate			3.74%								4.20%	3.90%
Volatility			81.93%								80.50%	82.70%
Expected term			5 years 6 months								6 years	6 years 1 month 6 days
2024 Performance Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate								4.26%
Volatility								76.82%
Expected dividend yield								0.00%
Expected term								6 years
2024 PSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period								3 years 9 months 18 days
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
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		2,288,582		1,273,106
Number of shares available for future issuance											696,925
2020 Plan | Subsequent Events
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Increase in Shares available for grant	2,620,600
2020 Plan | Chief Executive Officer | 2024 Performance Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted								550,000
Exercise price per share, granted								$ 6.07
2020 Plan | Executive Chair | 2024 PSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units outstanding shares, Granted								385,000
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 issuance											863,000
Inducement Award Plan | Executives
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted											0	630,000
2020 ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted											1,000
Shares of common stock reserved for future issuances										150,000
Maximum number of common shares issued		286,072		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%
Shares available for issuance											723,906
2020 ESPP | Subsequent Events
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum number of common shares issued	262,594
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											$ 1,000,000