Stock-Based Compensation - Schedule of Assumptions Used to Determine the Fair Value of Purchase Rights Issued Under ESPP (Details)	6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate	4.00%	4.00%
Expected volatility	80.50%	82.60%
Expected term (years)	5 years 8 months 12 days	6 years
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate	5.40%	5.00%
Expected volatility	95.30%	73.20%
Expected term (years)	6 months	6 months