Equity Incentive Plans and Stock-Based Compensation - 2020 Employee Stock Purchase Plan - Summary of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for 2020 Employee Stock Purchase Plan (Details) - 2020 Employee Stock Purchase Plan	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk free interest rate	5.20%	0.60%
Expected term of options (in years)	6 months	6 months
Expected stock price volatility	69.15%	63.17%
Expected dividend	0.00%	0.00%