Equity-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Aug. 20, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 43,118	$ 35,480	$ 24,972
Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	21,555	18,008	11,731
General and Administrative Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	21,563	17,472	13,241
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Intrinsic value of stock options exercised	$ 9,100	$ 15,800	$ 67,600
Weighted-average fair value of options granted	$ 17.91	$ 20.18	$ 29.95
Unrecognized stock-based compensation expense	$ 55,200
Unrecognized compensation cost, recognition period	2 years
Equity-based compensation expense	$ 38,550	$ 33,329	$ 23,789
Employee Stock Option | Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	18,525	16,388	11,161
Employee Stock Option | General and Administrative Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 20,025	$ 16,941	$ 12,628
Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost, recognition period	2 years 4 months 24 days
Granted	404,844	295,892	12,500
Unrecognized stock-based compensation expense	$ 11,200
Equity-based compensation expense	$ 3,800	$ 1,400	$ 900
Restricted Stock | Consultants
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Granted	0	0
Restricted Stock | Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 2,500	$ 1,100	300
Restricted Stock | General and Administrative Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Equity-based compensation expense	$ 1,300	$ 300	$ 600
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	3,797,548
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	1,582,495
Share-based compensation, description	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 lessor 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]
Number of additional shares authorized	438,898
2020 ESPP | Lesser of Potential Outcome 2
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum number of shares to be issued, percentage	1.00%
2018 Plan | Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Granted	404,844