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Stock-based Compensation - Additional Information (Details)
1 Months Ended 6 Months Ended 12 Months Ended
Jan. 31, 2023
shares
Oct. 31, 2020
shares
Sep. 30, 2022
USD ($)
shares
Dec. 31, 2022
USD ($)
Installment
$ / shares
shares
Dec. 31, 2021
$ / shares
shares
Dec. 31, 2020
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Common stock, capital shares reserved for future issuance       23,638,028    
Gross proceeds from issuance of common stock | $       $ 140,000    
Weighted average grant date fair value per option granted | $ / shares       $ 5.09 $ 39.10 $ 14.93
Fair value assumptions, method used       Black-Scholes    
Restricted Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of units granted       182,350 0 0
Aggregate grant date fair value of restricted stock units granted | $       $ 1,302,000    
Number of installments | Installment       3    
Number of units cancelled due to terminations       20,600    
Unvested shares       161,750    
Performance-based Restricted Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of units granted       742,070 0 0
Aggregate grant date fair value of restricted stock units granted | $       $ 5,298,000    
Number of units cancelled due to terminations       17,100    
Performance based restricted stock units terms of award       The performance stock unit awards provide for a performance period from February 1, 2022 through January 31, 2025 to achieve up to six defined performance metrics. The percentage of each award eligible to vest will be determined based on the number of metrics achieved during the performance period and may range from 0% to 200%. The Company has not recognized any compensation expense through December 31, 2022, as the minimum performance criteria had not been deemed probable. The vesting of any eligible awards will occur in equal installments on January 31, 2025 and January 31, 2026.    
Unvested shares       724,970    
Stock Options            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting contractual term       10 years    
Unrecognized compensation expense | $       $ 92,798    
Remaining weighted average period for recognize compensation expense       2 years 3 months 18 days    
2020 Incentive Award Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of shares of common stock Outstanding   5.00%        
Increased number of shares available under plan       8,285,983    
Common stock, capital shares reserved for future issuance       7,961,066    
Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of shares of common stock Outstanding   1.00%        
Common stock, capital shares reserved for future issuance   1,187,000        
Issuance of common stock under ESPP, shares     29,036      
Gross proceeds from issuance of common stock | $     $ 140,000      
Subsequent Event | 2020 Incentive Award Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Increased number of shares available under plan 4,164,381          
Maximum | Performance-based Restricted Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Award vesting percentage       200.00%    
Maximum | Stock Options            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting service period       4 years    
Maximum | 2020 Incentive Award Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares available for grant   7,924,000        
Maximum | 2020 Incentive Award Plan | From 2013 Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares available for grant   5,982,266        
Minimum | Performance-based Restricted Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Award vesting percentage       0.00%    
Minimum | Stock Options            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting service period       3 years    
Common Stock            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Issuance of common stock under ESPP, shares       29,036    
Common Stock | Subsequent Event | Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Increased number of shares available under plan 832,876