Stockholders Equity - Schedule of Reserved Shares of Common Stock for Issuance (Details) - shares	Jun. 30, 2024	Dec. 31, 2023
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	23,994,384	18,357,134
2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	1,585,257
Option To Purchase Common Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	6,518,729	10,439,751
Unvested Restricted Stock
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	1,246,012	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	14,644,386	4,182,461
Stock Available For Issuance | 2020 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	1,585,257	480,059