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, 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]
Change in unrealized loss, net on marketable securities	(4,634)
Net loss	(90,990)
Ending balance (in shares) at Sep. 30, 2022		48,951,283
Ending balance at Sep. 30, 2022	318,179	$ 5	682,288	(5,409)	(358,705)
Beginning balance (in shares) at Mar. 31, 2022		48,751,490
Beginning balance at Mar. 31, 2022	364,529	$ 5	667,509	(3,650)	(299,335)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		124,677
Issuance of common stock upon exercise of stock options	259		259
Stock-based compensation	8,109		8,109
Change in unrealized loss, net on marketable securities	(931)			(931)
Net loss	(27,412)				(27,412)
Other (in shares)		1,485
Other	39		39
Ending balance (in shares) at Jun. 30, 2022		48,877,652
Ending balance at Jun. 30, 2022	344,593	$ 5	675,916	(4,581)	(326,747)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		46,367
Issuance of common stock upon exercise of stock options	211		211
Issuances of common stock under 2020 ESPP (in shares)		23,374
Issuance of common stock under 2020 ESPP	150		150
Stock-based compensation	5,980		5,980
Change in unrealized loss, net on marketable securities	(828)			(828)
Net loss	(31,958)				(31,958)
Other (in shares)		3,890
Other	31		31
Ending balance (in shares) at Sep. 30, 2022		48,951,283
Ending balance at Sep. 30, 2022	318,179	$ 5	682,288	(5,409)	(358,705)
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)
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]
Change in unrealized loss, net on marketable securities	3,233
Net loss	(97,739)
Ending balance (in shares) at Sep. 30, 2023		49,259,870
Ending balance at Sep. 30, 2023	216,024	$ 5	710,552	(904)	(493,629)
Beginning balance (in shares) at Mar. 31, 2023		49,052,509
Beginning balance at Mar. 31, 2023	262,470	$ 5	695,605	(2,470)	(430,670)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		1,337
Issuance of common stock upon exercise of stock options	2		2
Stock-based compensation	6,425		6,425
Change in unrealized loss, net on marketable securities	696			696
Net loss	(35,922)				(35,922)
Other (in shares)		11,252
Other	36		36
Ending balance (in shares) at Jun. 30, 2023		49,065,098
Ending balance at Jun. 30, 2023	233,707	$ 5	702,068	(1,774)	(466,592)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding (in shares)		69,015
Issuance of common stock upon vesting of restricted stock units, net of shares repurchased for tax withholding	(16)		(16)
Issuances of common stock under 2020 ESPP (in shares)		113,036
Issuance of common stock under 2020 ESPP	264		264
Stock-based compensation	8,200		8,200
Change in unrealized loss, net on marketable securities	870			870
Net loss	(27,037)				(27,037)
Other (in shares)		12,721
Other	36		36
Ending balance (in shares) at Sep. 30, 2023		49,259,870
Ending balance at Sep. 30, 2023	$ 216,024	$ 5	$ 710,552	$ (904)	$ (493,629)