Common Stock - Additional Information (Details) - shares	12 Months Ended
	Dec. 31, 2023	Jan. 01, 2024	Jan. 01, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Reserved shares of common stock for future issuance	11,417,782			9,440,355
2020 Equity Incentive Plan
Class Of Stock [Line Items]
Share based compensation maximum annual increase in number of shares that may be issued under the plan	3,230,000
Share based compensation percentage of number shares of common stock issued and outstanding on immediate proceeding	5.00%
Reserved shares of common stock for future issuance			1,893,869
2020 Equity Incentive Plan | Subsequent Event
Class Of Stock [Line Items]
Reserved shares of common stock for future issuance		1,908,630
2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Share based compensation maximum annual increase in number of shares that may be issued under the plan	646,000
Share based compensation percentage of number shares of common stock issued and outstanding on immediate proceeding	1.00%
Reserved shares of common stock for future issuance			378,774
2020 Employee Stock Purchase Plan | Subsequent Event
Class Of Stock [Line Items]
Reserved shares of common stock for future issuance		381,726