Stockholders Equity - Schedule of Reserved Shares of Common Stock for Issuance (Details) - shares	Mar. 31, 2024	Dec. 31, 2023
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	22,851,751	18,357,134
2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	1,621,594
Option To Purchase Common Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	8,594,001	10,439,751
Unvested Restricted Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	1,564,941	3,254,863
Stock Available For Grant | 2020 Stock Option and Grant Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	12,692,809	4,182,461
Stock Available For Issuance | 2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	1,621,594	480,059