Stock-Based Compensation - Additional Information (Details)	3 Months Ended		6 Months Ended
	Jun. 30, 2024 USD ($) shares	Jun. 30, 2023 USD ($)	Jun. 30, 2024 USD ($) Plan $ / shares shares	Jun. 30, 2023 USD ($) $ / shares	Jan. 01, 2024 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of equity incentive plans | Plan			2
Aggregate intrinsic value of outstanding options	$ 4,000,000		$ 4,000,000
Aggregate intrinsic value of exercisable options	3,900,000		3,900,000
Stock-based compensation expense	6,098,000	$ 6,733,000	$ 11,645,000	$ 12,989,000
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average grant date fair value of options granted | $ / shares			$ 3.29	$ 5.04
Stock-based compensation expense	6,000,000	6,500,000	$ 11,300,000	$ 12,400,000
Total unrecognized compensation expense related to unvested stock option awards	35,700,000		$ 35,700,000
Total unrecognized compensation expense, weighted-average period			2 years 2 months 19 days
Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period			4 years
Stock-based compensation expense	0	$ 100,000	$ 100,000	300,000
Share-based payment arrangement, nonvested award, unrecognized expense	0		$ 0
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period			4 years
Stock-based compensation expense			$ 100,000	100,000
Total unrecognized compensation expense, weighted-average period			1 year 7 months 17 days
Share-based payment arrangement, nonvested award, unrecognized expense	$ 400,000		$ 400,000
2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future grants | shares	4,460,925		4,460,925
Terms of award			The number of shares of the Company’s common stock that may be issued pursuant to rights granted under the Plan shall automatically increase on January 1st of each year and continuing for ten years beginning on January 1, 2021, in an amount equal to five percent of the total number of shares of the Company’s common stock outstanding on December 31st of the preceding calendar year, subject to the discretion of the Company's board of directors or compensation committee to determine a lesser number of shares shall be added for such year. On January 1, 2024, 2,745,712 shares were added to the Plan.
Award term			10 years
Percentage of shares outstanding used to calculate annual increase in number of shares that can be issued			5.00%
Number of shares authorized | shares					2,745,712
2020 Equity Incentive Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period			4 years
2020 Equity Incentive Plan | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period			1 year
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future grants | shares	2,089,518		2,089,518
Terms of award			The number of shares of the Company’s common stock that may be issued pursuant to rights granted under the ESPP shall automatically increase on January 1st of each year and continuing for ten years beginning in 2021, in an amount equal to one percent of the total number of shares of all classes of the Company’s common stock outstanding on December 31st of the preceding calendar year, subject to the discretion of the Company's board of directors or compensation committee to determine a lesser number of shares shall be added for such year.
Award term			10 years
Percentage of shares outstanding used to calculate annual increase in number of shares that can be issued			1.00%
Stock-based compensation expense			$ 100,000	$ 200,000
Common stock additional capital shares reserved for future issuance | shares					549,142
Eligible employees purchase common stock percentage of lower of fair market value			85.00%
Participants accrue rights to purchase maximum common stock amount			$ 25,000
2020 Employee Stock Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Eligible employees contribution percentage			15.00%
Vesting After One Year | Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of stock options vested			25.00%
Vesting After One Year | Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of stock options vested			25.00%
Vesting After One Year | 2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of stock options vested			25.00%