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Common Stock (Tables)
 9 Months Ended
Sep. 30, 2023
Equity [Abstract]  
Schedule of Shares Reserved for Future Issuance
Shares reserved for future issuance
As of
September 30,
2023
As of
December 31,
2022
Outstanding stock option awards6,852,652 5,569,567 
Vesting of RSUs916,708 507,925 
Vesting of PSUs354,534 531,796 
Shares of common stock available for future grants under the 2020 Stock Option and Incentive Plan2,795,354 2,937,769 
Shares of common stock available for future issuance under the 2020 Employee Stock Purchase Plan805,756 888,184 
Shares of common stock available for future issuance under the 2022 Inducement Plan850,000 1,000,000 
Total shares reserved for future issuance12,575,004 11,435,241