Equity Incentive Plans - Summary of Activity under Employee Stock Purchase Plan (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Begining balance	456,766	0
Ending balance	753,462	456,766
2020 Employee Stock Purchase Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Begining balance	1,539,314	1,070,704
Additional shares authorized	794,706	530,319
Shares purchased	(76,275)	(61,709)
Ending balance	2,257,745	1,539,314