Stockholders' Equity - Additional Information (Details) - USD ($)			3 Months Ended	9 Months Ended
	Feb. 26, 2023	Jan. 01, 2021	Sep. 30, 2023	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Class Of Stock [Line Items]
Total number of common shares reserved for issuance			8,958,119	8,958,119		7,329,913
Common Stock, Shares Authorized			350,000,000	350,000,000		350,000,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition				9 months 18 days
Equity Option
Class Of Stock [Line Items]
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount			$ 17,600,000	$ 17,600,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition				3 years
Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Weighted Average Grant Date Fair Value				$ 2.62
Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount			2,900,000	$ 2,900,000
Number of Shares, Vested				361,412
Compensation expense on issuance of director compensation			$ 27,000	$ 80,000
Restricted Stock Units (RSUs) | Board Of Directors
Class Of Stock [Line Items]
Number of Shares, Vested				34,468
2020 Equity Incentive Plan [Member]
Class Of Stock [Line Items]
Common shares authorized for issuance			9,196,970	9,196,970		7,658,509
Shares available for awards, description		4%
Vesting percentage				25.00%
Vesting period				36 months
Vesting terms, description				ten years
Modification of Two Thousand Twenty Equity Incentive Plan and certain awards [Member] | Equity Option
Class Of Stock [Line Items]
Share-Based Goods and Nonemployee Services Transaction, Modification of Terms, Incremental Compensation Cost	$ 123,000
Modification of Two Thousand Twenty Equity Incentive Plan and certain awards [Member] | Equity Option | Board Of Directors
Class Of Stock [Line Items]
Number of options unvested on modification date, number of shares	574,244
Recalculated compensation cost of the modified options	$ 962,000
RSUs fully vested on the modification date, number of shares	130,699
Modification of Two Thousand Twenty Equity Incentive Plan and certain awards [Member] | Restricted Stock Units (RSUs) | Board Of Directors
Class Of Stock [Line Items]
Recalculated compensation cost on the modified RSUs	$ 416,000
RSUs unvested on modification date, number of shares	139,730
Employees Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Total number of common shares reserved for issuance			1,521,559	1,521,559
Common Stock, Shares Authorized			1,737,098	1,737,098		1,229,148
Share-Based Compensation Arrangement by Share-Based Payment Award, Purchase Price of Common Stock, Percent				15.00%
Share Based Compensation Arrangement By Share Based Payment Award Percentage Of Outstanding Stock Maximum				1.00%
Increase in issuance of common stock				929,658
Common stock shares issued under ESPP				56,793	9,482
Class B Common Stock
Class Of Stock [Line Items]
Common Stock, Shares Authorized			15,368,569	15,368,569		15,368,569