Common Stock - Schedule of Shares Reserved for Future Issuance (Details) - shares	Sep. 30, 2023	Dec. 31, 2022
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	12,575,004	11,435,241
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)	2,795,354	2,937,769
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)	805,756	888,184
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)	850,000	1,000,000
Outstanding stock option awards
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	6,852,652	5,569,567
Restricted stock units
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	916,708	507,925
Vesting of PSUs
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	354,534	531,796