Stockholders' Equity - Schedule of Common Stock Shares Reserved for Future Issuance (Details) - 2020 Plan and 2014 Plan - shares	Dec. 31, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Common stock reserved for future issuances	16,133,448	12,851,858
Employee Stock Option
Class Of Stock [Line Items]
Common stock reserved for future issuances	9,314,836	7,715,494
Restricted Stock Units (RSUs) [Member]
Class Of Stock [Line Items]
Common stock reserved for future issuances	753,462	456,766
Shares Available for Future Stock Option Grants
Class Of Stock [Line Items]
Common stock reserved for future issuances	6,065,150	4,679,598