Equity - Additional Information (Details) $ / shares in Units, $ in Millions		3 Months Ended	6 Months Ended
	Jul. 18, 2023	Jun. 30, 2023 USD ($) $ / shares shares	Jun. 30, 2023 USD ($) offering $ / shares shares	Jun. 30, 2022 USD ($) $ / shares shares	Dec. 31, 2022 $ / shares shares	Nov. 04, 2021 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, shares authorized (in shares)		100,000,000	100,000,000		100,000,000
Common stock, par value (in dollars per share) | $ / shares		$ 0.000001	$ 0.000001		$ 0.000001
Common stock, shares issued (in shares)		44,021,429	44,021,429		42,648,346
Common stock, shares outstanding (in shares)		44,021,429	44,021,429		42,648,346
Percentage of outstanding stock per stockholder, maximum			9.99%
Percentage of outstanding stock per stockholder, upon notice, maximum			19.99%
Warrants, notice period for nominal cash consideration			61 days
Unrecognized stock-based compensation cost | $		$ 1.6	$ 1.6
Unrecognized stock-based compensation cost, weighted-average period recognized			1 year 10 months 17 days
Shares issued upon exercises of stock options (in shares)			0	36,500
Aggregate intrinsic value of options exercised | $				$ 0.1
Weighted average grant date fair value for options granted in period (in dollars per share) | $ / shares			$ 0.51	$ 1.47
Subsequent Event
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of outstanding stock per stockholder, upon notice, maximum	19.99%
Warrants, notice period for nominal cash consideration	61 days
2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock shares reserved for issuance under employee stock purchase plan (in shares)		759,936	759,936
Shares issuable under 2020 ESPP | 2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
ESPP max contribution rate		15.00%	15.00%
ESPP, purchase price of common stock, percent of market price			85.00%
ESPP number of offerings per year | offering			2
ESPP offering period			6 months
Equity Offering Sales Agreement
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Sale of stock, maximum aggregate offering price | $						$ 40.0
Prefunded Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares issued upon the exercise of pre-funded warrants (in shares)		1,180,000
Outstanding pre-funded warrants (in shares)		11,483,010	11,483,010	12,663,010
Exercise price of pre-funded warrants (in dollars per share) | $ / shares		$ 0.000001	$ 0.000001