Share-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	9 Months Ended
Sep. 30, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average grant date fair value of stock option	$ 3.35
Unrecognized compensation cost	$ 26.4
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period	2 years 8 months 12 days
Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares subject to repurchase	0	508
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost	$ 4.7
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period	3 years
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock authorized for issuance	1,441,307
Number of common stock available for issuance	1,284,321
Maximum percentage of employee compensation eligible for plan	15.00%
Commons stock purchase price as percentage of fair value	85.00%
Shares issued	156,986
2020 Employee Stock Purchase Plan \| Accrued and Other Current Liabilities
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Employee contributions to ESPP	$ 0.3
2020 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock authorized for issuance	8,388,917
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	2,177,773

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

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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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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Number of shares issued under share-based payment arrangement.

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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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