Capital Structure - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2024	Dec. 31, 2023
Class Of Stock [Line Items]
Shares reserved for future issuance	23,050,984	21,019,708
Shares available for future issuance under 2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	966,802	675,038
Standard Warrants, issued and outstanding
Class Of Stock [Line Items]
Shares reserved for future issuance	12,687,000	12,687,000
Common Stock Options, Issued and Outstanding
Class Of Stock [Line Items]
Shares reserved for future issuance	3,863,372	4,097,376
Restricted stock units, issued and outstanding
Class Of Stock [Line Items]
Shares reserved for future issuance	3,991,700	3,482,663
Shares available for future issuance under 2020 Equity Incentive Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	1,542,110	77,631