Share-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended		3 Months Ended						9 Months Ended
	May 31, 2023	Jun. 30, 2020	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of options, Granted									2,306,940
Options granted, Exercise price									$ 11.73
Common stock shares issued			42,129,251						42,129,251		42,036,193
Number of options exercised									17,450
Options, weighted-average exercise price									$ 2.65
Aggregate proceeds from exercise of options									$ 48	$ 283
Restricted Share Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized share-based compensation expense related to unvested restricted share units			$ 5,900						$ 5,900
Unrecognized share-based compensation expense related to unvested stock options, weighted average period									2 years 3 months 18 days
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized share-based compensation expense related to unvested stock options			$ 43,000						$ 43,000
Unrecognized share-based compensation expense related to unvested stock options, weighted average period									1 year 7 months 6 days
Inducement Option Award
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of options, Granted	240,000
Vesting term	10 years
Options granted, Exercise price	$ 9.83
Common Shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of options exercised			1,400	14,050	2,000	16,930	44,268	12,235
2020 Employee Share Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance			1,411,426						1,411,426
Annual increases in number of shares available for issuance as percentage of outstanding shares common stock on final day of preceding calendar year		1.00%
Annual increases in number of shares available for issuance maximum number of common stock issued		3,300,000
Purchase price of shares as percentage of fair market value of common stock on date of purchase		85.00%
Common stock shares issued		0	75,608						75,608
Shares issued, price per share			$ 9.11						$ 9.11
Cash received from purchases under ESPP									$ 700
2020 Employee Share Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock initially reserved for future issuance		327,000
Option Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance		298,605
Option Plan | Common Shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares ceased granting		4,074,135
2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance			10,033,406						10,033,406
Annual increases in number of shares available for issuance as percentage of outstanding shares common stock on final day of preceding calendar year									5.00%
2020 Equity Incentive Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance		3,807,448
Shares of common stock initially reserved for future issuance		3,600,000