Common Stock - Schedule of Reserved Shares of Common Stock for Future Issuance (Details) - shares	Mar. 31, 2024	Dec. 31, 2023
Class Of Stock [Line Items]
Reserved shares of common stock for future issuance	14,304,089	11,417,782
Shares Issuable Upon the Exercise of Outstanding Common Stock Options and the Vesting of Outstanding Common Restricted Stock Units Granted
Class Of Stock [Line Items]
Reserved shares of common stock for future issuance	10,365,045	7,130,956
Shares Available for Future Grant under 2020 Equity Incentive Plan
Class Of Stock [Line Items]
Reserved shares of common stock for future issuance	1,678,586	3,158,094
Shares Available for Future Grant under Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for future issuance	1,510,458	1,128,732
Shares Available for Future Grant under 2024 Inducement Equity Incentive Plan
Class Of Stock [Line Items]
Reserved shares of common stock for future issuance	750,000