Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		3 Months Ended
	Jan. 01, 2021	Mar. 31, 2024	Dec. 31, 2023
Class Of Stock [Line Items]
Total fair value of options vested		$ 3,600
Total number of common shares reserved for issuance		10,822,727	8,776,826
Common Stock, Shares Authorized		350,000,000	350,000,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition		3 years 9 months 18 days
Common stock, shares issued (in shares)		48,106,317	48,077,599
Equity Option
Class Of Stock [Line Items]
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount		$ 13,700
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition		2 years 5 months 15 days
Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Weighted Average Grant Date Fair Value		$ 1.41
Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount		$ 4,800
Number of Shares, Vested		37,062
2020 Equity Incentive Plan [Member]
Class Of Stock [Line Items]
Common shares authorized for issuance		10,735,431	9,196,970
Percentage of Annual increased Shares	4.00%
Vesting percentage		25.00%
Vesting period		36 months
Vesting terms, description		ten years
Compensation Cost for the Modified Unvested Restricted Stock Units		$ 416,000
Number of Modified Fully Vested Options		130,699
Increase In Compensation Cost Of Fully Vested Options		$ 123,000
2020 Equity Incentive Plan [Member] | Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Total Number of Modified Unvested Restricted Stock Units		139,730
Employees Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Total number of common shares reserved for issuance		1,957,304
Common Stock, Shares Authorized		2,281,600	1,737,098
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 (in shares)		0
Class B Common Stock
Class Of Stock [Line Items]
Common Stock, Shares Authorized		15,368,569	15,368,569
Common stock, shares issued (in shares)		0	0
Common Stock Options | 2020 Equity Incentive Plan [Member]
Class Of Stock [Line Items]
Total Number of Modified Unvested Options		574,244
Compensation Cost for the Modified Unvested Options		$ 962,000