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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jan. 01, 2023
Jan. 01, 2022
Oct. 21, 2020
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Share-based Payment Arrangement              
Number of shares authorized 1,184,497            
Unrecognized compensation costs related to unvested options and unvested restricted stock       $ 36.7   $ 36.7  
Weighted average period of unrecognized compensation costs           2 years 6 months  
2020 Equity Incentive Plan              
Share-based Payment Arrangement              
Number of shares authorized       2,200,000   2,200,000  
Common stock shares available for grant (in shares)       1,256,255   1,256,255  
Percentage of automatic annual increase in number of shares           4.00%  
Number of additional shares authorized (in shares)   1,672,137          
Vesting period (years)           4 years  
Stock option expiry period (years)           10 years  
2016 Stock Incentive Plan              
Share-based Payment Arrangement              
Number of shares authorized       5,078,295   5,078,295  
2020 Employee Stock Purchase Plan              
Share-based Payment Arrangement              
Number of shares authorized     360,000        
Percentage of automatic annual increase in number of shares     1.00%        
Number of additional shares authorized (in shares) 418,034            
Maximum aggregate number of shares added to plan (in shares)       3,220,520   3,220,520  
Percentage of payroll deductions       15.00%   15.00%  
Discount of shares rate, percent           15.00%  
Share-based payment arrangement, expense       $ 0.0 $ 0.0 $ 0.1 $ 0.0