Common Stock - Schedule of Shares Reserved for Future Issuance (Details) - shares	Dec. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	11,435,241	8,467,491
Shares of common stock available for future grants under the 2020 Stock Option and Incentive Plan
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	2,937,769	4,234,213
Shares of common stock available for future issuance under the 2020 Employee Stock Purchase Plan
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	888,184	613,098
Shares of common stock available for future issuance under the 2022 Inducement Plan
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	1,000,000	0
Outstanding stock option awards
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	5,569,567	3,620,180
Restricted stock units
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	507,925	0
Performance Stock Units
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	531,796	0
Performance-based restricted stock units
Class of Stock [Line Items]
Target level of achievement percentage	100.00%