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Stock-based Compensation - Summary of Stock Options Outstanding and Exercisable under the 2020 Plan (Details) - $ / shares
9 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Shares Outstanding 7,019,311 4,033,522
Shares Exercisable 2,592,898  
Exercise Price $0.16 to 4.22    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Shares Outstanding 3,865,599  
Shares Exercisable 854,723  
Exercise Price $0.16 to 4.22 | Minimum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 0.16  
Exercise Price $0.16 to 4.22 | Maximum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 4.22  
Exercise Price $8.93 to 19.94    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Shares Outstanding 2,796,464  
Shares Exercisable 1,537,065  
Exercise Price $8.93 to 19.94 | Minimum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 8.93  
Exercise Price $8.93 to 19.94 | Maximum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 19.94  
Exercise Price $20.55 to 29.41    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Shares Outstanding 357,248  
Shares Exercisable 201,110  
Exercise Price $20.55 to 29.41 | Minimum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 20.55  
Exercise Price $20.55 to 29.41 | Maximum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 29.41