Common Stock - Schedule of Common Stock Reserved for Issuance (Details) - shares	Dec. 31, 2024	Dec. 31, 2023	Dec. 31, 2020
Class of Stock [Line Items]
Common stock reserved shares for issuance	25,556,135	12,336,755
Options Outstanding Under the 2014 Stock Plan
Class of Stock [Line Items]
Common stock reserved shares for issuance	1,875,140	1,875,140
Options Outstanding Under the 2020 Equity Incentive Plan
Class of Stock [Line Items]
Common stock reserved shares for issuance	7,786,735	5,669,961
Options Outstanding Under 2022 Inducement Plan
Class of Stock [Line Items]
Common stock reserved shares for issuance	1,691,182	1,125,641
Shares Available for Future Grant Under the 2020 Equity Incentive Plan and the 2022 Inducement Plan
Class of Stock [Line Items]
Common stock reserved shares for issuance	2,056,300	2,497,813
Available for the 2020 Employee Stock Purchase Plan
Class of Stock [Line Items]
Common stock reserved shares for issuance	1,122,615	684,497	430,416
Unvested Performance Based Restricted Stock Unit Awards Outstanding Under the 2020 Equity Incentive Plan
Class of Stock [Line Items]
Common stock reserved shares for issuance		403,000
Unvested Restricted Stock Awards Outstanding Under the 2014 Stock Plan
Class of Stock [Line Items]
Common stock reserved shares for issuance		80,703
Shares available for issuance related to pre-funded warrants
Class of Stock [Line Items]
Common stock reserved shares for issuance	11,024,163