Common Stock - Schedule of Shares Reserved for Future Issuance (Details) - shares	Sep. 30, 2024	Dec. 31, 2023
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	15,211,747	12,544,982
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)	4,250,554	2,882,239
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)	1,294,745	805,756
Shares of common stock available for future grants under the 2022 Inducement Plan
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	460,000	700,000
Outstanding stock option awards
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	8,255,321	6,953,487
Vesting of RSUs
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	951,127	874,748
Vesting of PSUs
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	0	328,752