Capital Structure - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Shares reserved for future issuance	21,019,708	7,704,202
Shares available for future issuance under 2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	675,038	601,819
Common Stock warrants, issued and outstanding
Class Of Stock [Line Items]
Shares reserved for future issuance	12,687,000	0
Stock Options, Issued and Outstanding
Class Of Stock [Line Items]
Shares reserved for future issuance	4,097,376	4,166,194
Restricted and performance stock units, issued and outstanding
Class Of Stock [Line Items]
Shares reserved for future issuance	3,482,663	1,996,128
Shares available for future issuance under 2020 Equity Incentive Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	77,631	940,061