Condensed Consolidated Statements of Stockholders’ Equity - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-In Capital	Accumulated Other Comprehensive Loss	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2021		48,688,875
Beginning balance at Dec. 31, 2021	$ 389,606	$ 5	$ 658,091	$ (775)	$ (267,715)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		52,707
Issuance of common stock upon exercise of stock options	260		260
Issuances of common stock under 2020 ESPP (in shares)		8,028
Issuance of common stock under 2020 ESPP	220		220
Stock-based compensation	8,879		8,879
Change in unrealized loss, net on marketable securities	(2,875)			(2,875)
Net loss	(31,620)				(31,620)
Other (in shares)		1,880
Other	59		59
Ending balance (in shares) at Mar. 31, 2022		48,751,490
Ending balance at Mar. 31, 2022	364,529	$ 5	667,509	(3,650)	(299,335)
Beginning balance (in shares) at Dec. 31, 2022		48,966,216
Beginning balance at Dec. 31, 2022	289,234	$ 5	689,256	(4,137)	(395,890)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		11,759
Issuance of common stock upon exercise of stock options	56		56
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding (in shares)		48,730
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding	(94)		(94)
Issuances of common stock under 2020 ESPP (in shares)		20,748
Issuance of common stock under 2020 ESPP	104		104
Stock-based compensation	6,251		6,251
Change in unrealized loss, net on marketable securities	1,667			1,667
Net loss	(34,780)				(34,780)
Other (in shares)		5,056
Other	32		32
Ending balance (in shares) at Mar. 31, 2023		49,052,509
Ending balance at Mar. 31, 2023	$ 262,470	$ 5	$ 695,605	$ (2,470)	$ (430,670)