Share-Based Compensation - Schedule of Fair Value of Stock Options Determined on Grant Date Using Black Scholes Option-Pricing Model (Details) - 2020 Equity Incentive Plan - $ / shares	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Fair value of stock options	$ 2.67	$ 7.08	$ 4.72	$ 8.33
Risk-free interest rate	4.30%	3.75%	4.21%	3.68%
Expected terms (in years)	5 years 3 months 29 days	5 years 9 months 21 days	5 years 11 months 19 days	6 years
Expected volatility	83.57%	80.78%	83.08%	81.48%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%