Stockholders Equity - Schedule of Reserved Shares of Common Stock for Issuance (Details) - shares	Sep. 30, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	18,539,531	14,869,885
2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	505,366
Option To Purchase Common Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	10,445,312	7,922,797
Unvested Restricted Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	3,410,391	2,239,106
Stock Available For Grant | 2020 Stock Option and Grant Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	4,178,462	4,253,680
Stock Available For Issuance | 2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	505,366	454,302