Equity-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Aug. 20, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 11,655	$ 9,076	$ 32,220	$ 26,571
Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	5,795	4,852	16,227	13,522
General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	5,860	4,224	15,993	13,049
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Intrinsic value of stock options exercised	$ 1,100	$ 2,800	$ 7,900	$ 11,500
Weighted-average fair value of options granted	$ 13.35	$ 14.18	$ 18.19	$ 20.62
Unrecognized stock-based compensation expense	$ 64,900		$ 64,900
Unrecognized compensation cost, recognition period			2 years 2 months 12 days
Equity-based compensation expense	10,371	$ 8,400	$ 28,990	$ 25,072
Employee Stock Option | Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	4,931	4,348	14,091	12,383
Employee Stock Option | General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	5,440	4,052	$ 14,899	$ 12,689
Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost, recognition period			2 years 7 months 6 days
Granted			393,556	283,328
Unrecognized stock-based compensation expense	12,300		$ 12,300
Equity-based compensation expense	1,100	500	2,600	$ 900
Restricted Stock | Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	700	400	1,700	700
Restricted Stock | General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 400	$ 100	$ 900	$ 200
2020 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized for issuance under plan					4,457,370
Maximum number of shares to be issued, percentage			4.00%
Shares remaining available for future grants	3,776,080		3,776,080
2020 ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized for issuance under plan					445,653
Shares remaining available for future grants	1,607,727		1,607,727
Share-based compensation, description			The 2020 ESPP initially reserved and authorized the issuance of up to a total of 445,653 shares of common stock to participating employees. The 2020 ESPP provides that the number of shares reserved and available for issuance will automatically increase on January 1, 2021 and each January 1 thereafter through January 1, 2030, by the lesser of (i) 438,898 shares of common stock, (ii) 1% of the Company’s outstanding number of shares of common stock on the immediately preceding December 31 or (iii) such lesser number of shares of common stock as determined by the administrator of the 2020 ESPP
2020 ESPP | Lesser of Potential Outcome 1
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum number of shares to be issued, percentage			1.00%
Number of additional shares authorized			438,898
2018 Plan | Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Granted			393,556