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Common Stock (Tables)
 9 Months Ended
Sep. 30, 2024
Equity [Abstract]  
Schedule of Shares Reserved for Future Issuance
Shares reserved for future issuance
As of September 30, 2024As of December 31, 2023
Outstanding stock option awards8,255,321 6,953,487 
Vesting of RSUs951,127 874,748 
Vesting of PSUs— 328,752 
Shares of common stock available for future grants under the 2020 Stock Option and Incentive Plan4,250,554 2,882,239 
Shares of common stock available for future issuance under the 2020 Employee Stock Purchase Plan1,294,745 805,756 
Shares of common stock available for future grants under the 2022 Inducement Plan460,000 700,000 
Total shares reserved for future issuance15,211,747 12,544,982