Share-Based Compensation - Additional Information (Details) - USD ($)	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Aggregate cash proceeds	$ 530,000	$ 445,000
Number of common stock available for issuance	11,171,592
Unrecognized compensation cost	$ 19,500,000
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period	2 years 7 months 6 days
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%
Weighted-average grant-date fair value of stock option grants per share	$ 3.36	$ 8.6
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost	$ 3,700,000
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period	2 years 9 months 18 days
Weighted-average grant date fair value per share, granted	$ 5.57	$ 12.62
Fair value of restricted stock units vested	$ 400,000
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued	164,567	61,754
Aggregate cash proceeds	$ 500,000	$ 400,000
Number of common stock available for issuance	1,214,986
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%
2015 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued	1,177,232
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	2,645,312

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

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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 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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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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