Equity Incentive Plans and Stock-Based Compensation - Equity Incentive Plan - Narrative (Details) - Shares of common stock available for future grants under the 2020 Stock Option and Incentive Plan	1 Months Ended
	May 31, 2020	Sep. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares to be added to plan annually, percent of outstanding shares		5.00%
Exercise price as a percentage of estimated grant date fair value of shares	10.00%
Expiration period from date of grant	5 years
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options under plan may be granted for periods	10 years
Exercise price as a percentage of estimated grant date fair value of shares	110.00%