Share-Based Compensation - Additional Information (Details) - USD ($)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Aggregate cash proceeds	$ 445,000
Number of common stock available for issuance	8,541,875
Unrecognized compensation cost	$ 34,200,000
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period	2 years 6 months
Contractual term of options granted	10 years
Dividends issued for options	$ 0
Dividends expected to be issued over life of options	$ 0
Estimated dividend yield	0.00%
Restricted Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares subject to repurchase	508	16,181
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost	$ 3,700
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period	3 years 2 months 12 days
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued	61,754	0
Number of common stock authorized for issuance	952,524
Aggregate cash proceeds	$ 400
Number of common stock available for issuance	890,770
Maximum percentage of employee compensation eligible for plan	15.00%
Offering period	6 months
Commons stock purchase price as percentage of fair value	85.00%
Unrecognized compensation cost	$ 100
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period	4 months 24 days
2015 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued	1,344,048
2020 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock authorized for issuance	5,945,002
Increase in share limit as percentage of outstanding shares of common stock on last trading day in prior year	5.00%
Number of common stock available for issuance	1,775,102

Increase in share limit as percentage of outstanding shares of common stock on last trading day in prior year.

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Aggregate number of common shares reserved for future issuance.

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Amount of paid and unpaid cash, stock, and paid-in-kind dividends declared for award under share-based payment arrangement.

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Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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The cash inflow associated with the amount received from the stock plan during the period.

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The estimated amount of dividends to be paid to holders of the underlying shares (expected dividends) over the option's term. Dividends are taken into account because payment of dividends to shareholders reduces the fair value of the underlying shares, and option holders generally do not receive dividends.

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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The highest percentage of annual salary that an employee is permitted to utilize with respect to the plan.

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Number of shares authorized for issuance under share-based payment arrangement.

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Number of shares issued under share-based payment arrangement.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Purchase price of common stock expressed as a percentage of its fair value.

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The number of shares authorized to be repurchased by an entity's Board of Directors under a stock repurchase plan.

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