Equity Incentive Plans - Summary of Estimated Fair Value of Employee Stock Options (Details)	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Fair Value Assumptions
Expected volatility, Minimum	73.20%	73.60%
Expected volatility, Maximum	73.50%	74.00%
Expected dividend yield	0.00%	0.00%
Expected term (in years)	5 years 4 months 24 days
Risk-free interest rate, Minimum	4.00%	3.70%
Risk-free interest rate, Maximum	4.30%	4.30%
2020 Employee Stock Purchase Plan
Fair Value Assumptions
Expected volatility, Minimum	38.10%	86.40%
Expected volatility, Maximum	62.70%	99.70%
Expected dividend yield	0.00%	0.00%
Risk-free interest rate, Minimum	4.90%	4.50%
Risk-free interest rate, Maximum	5.40%	4.70%
Minimum
Fair Value Assumptions
Expected term (in years)		5 years 3 months 18 days
Minimum | 2020 Employee Stock Purchase Plan
Fair Value Assumptions
Expected term (in years)	6 months	6 months
Maximum
Fair Value Assumptions
Expected term (in years)		5 years 4 months 24 days
Maximum | 2020 Employee Stock Purchase Plan
Fair Value Assumptions
Expected term (in years)	2 years	2 years