Common Stock - Schedule of Shares Reserved for Future Issuance (Details) - shares	Sep. 30, 2025	Dec. 31, 2024
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	19,263,616	16,200,412
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)	7,045,989	4,212,229
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)	1,692,136	1,294,745
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)	1,425,000	1,460,000
Outstanding stock option awards
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	8,088,517	8,300,804
Vesting of RSUs
Class of Stock [Line Items]
Total shares reserved for future issuance (in shares)	1,011,974	932,634