Stock-Based Compensation - Additional Information (Details)	12 Months Ended
	Dec. 31, 2024 USD ($) Plan $ / shares shares	Dec. 31, 2023 USD ($) $ / shares	Jan. 01, 2025 shares	Dec. 31, 2020 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	$ 100,000
Aggregate intrinsic value of exercisable options	0
Stock-based compensation expense	$ 21,345,000	$ 25,616,000
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average grant date fair value of options granted | $ / shares	$ 3.25	$ 4.87
Aggregate intrinsic value of options exercised	$ 20,000	$ 100,000
Stock-based compensation expense	20,800,000	24,600,000
Total unrecognized compensation expense related to unvested stock option awards	$ 21,900,000
Total unrecognized compensation expense, weighted-average period	2 years 14 days
Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period	4 years
Stock-based compensation expense	$ 100,000	500,000
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period	4 years
Stock-based compensation expense	$ 300,000	300,000
Total unrecognized compensation expense, weighted-average period	1 year 3 months
Share-based payment arrangement, nonvested award, unrecognized expense	$ 200,000
2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized | shares				4,680,000
Number of shares available for future grants | shares	5,417,370
Share authorization terms of award	The total number of shares initially authorized under the Plan was 4,680,000, which was increased on January 1, 2021 and will automatically increase on January 1st of each year, continuing for ten years, in an amount equal to five percent of the total number of shares of the Company’s common stock outstanding on December 31 of the preceding calendar year, subject to the discretion of the board of directors or compensation committee to determine a lesser number of shares shall be added for such year.
Award term	10 years
Share increase term	10 years
Percentage of shares outstanding used to calculate annual increase in number of shares that can be issued	5.00%
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	1,975,570
Share authorization 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.
Share increase 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	$ 200,000	$ 300,000
Shares issued | shares	192,864
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%
Subsequent Event | 2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized | shares			2,757,455
Subsequent Event | 2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock additional capital shares reserved for future issuance | shares			551,491