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)	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected dividend	0.00%	0.00%
2020 Employee Stock Purchase Plan
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%