Stockholders' Equity - Schedule of common stock reserved for future issuance (Details)	12 Months Ended
	Dec. 31, 2022 shares
Class of Warrant or Right [Line Items]
Total common stock reserved for future issuance (in shares)	21,859,407
Warrants issued and outstanding
Class of Warrant or Right [Line Items]
Total common stock reserved for future issuance (in shares)	4,239,450
Restricted stock units issued and outstanding
Class of Warrant or Right [Line Items]
Total common stock reserved for future issuance (in shares)	9,832,707
Stock options issued and outstanding
Class of Warrant or Right [Line Items]
Total common stock reserved for future issuance (in shares)	6,091,271
Authorized for future grant of equity instruments under 2020 Equity Incentive Plan
Class of Warrant or Right [Line Items]
Total common stock reserved for future issuance (in shares)	1,695,979