Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Common Stock, Shares, Issued	47,907,395	46,336,166
Common Stock, Shares, Outstanding	47,907,395	46,336,166
Total number of common shares reserved for issuance	8,958,119	7,329,913
Common Stock Options and Restricted Stock Units [Member]
Class Of Stock [Line Items]
Common Stock, Shares, Issued	6,523,605	3,246,957
Common Stock, Shares, Outstanding	6,523,605	3,246,957
2020 Plan [Member]
Class Of Stock [Line Items]
Awards available for future issuance	912,955	3,012,554
Employees Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Awards available for future issuance	1,521,559	1,070,402
Total number of common shares reserved for issuance	1,521,559