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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Jan. 01, 2022
Oct. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares of common stock reserved for future issuance           834,720
Annual increased percentage on outstanding common stock reserved           0.50%
Number of shares available for future issuance           208,680
Stock option, expiration period     10 years      
Treasury stock, shares 0   0      
Aggregate intrinsic value of stock options exercised $ 0 $ 800 $ 0 $ 5,100    
Stock-based compensation expense 2,287 $ 3,092 7,304 $ 8,055    
Total unrecognized compensation expense related to stock compensation awards $ 16,400   $ 16,400      
Weighted-average period of unrecognized compensation expense related to stock compensation awards     2 years 3 months 18 days      
2020 Stock Option and Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares of common stock reserved for future issuance           1,043,402
Additional shares of common stock reserved for future issuance         1,119,192  
Number of shares available for future issuance 501,018   501,018      
2020 Stock Option and Incentive Plan | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Annual increased percentage on outstanding common stock reserved           5.00%
2020 Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares of common stock reserved for future issuance 0   0