Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		6 Months Ended
	Jan. 01, 2021	Jun. 30, 2024	Dec. 31, 2023	Jun. 30, 2023
Class Of Stock [Line Items]
Total number of common shares reserved for issuance		10,594,647	8,776,826
Common Stock, Shares Authorized		350,000,000	350,000,000
Common stock, shares issued (in shares)		48,326,138	48,077,599
Equity Option
Class Of Stock [Line Items]
Total fair value of options vested		$ 6,200
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount		$ 11,600
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition		2 years 5 months 8 days
Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Weighted Average Grant Date Fair Value		$ 2.19
Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount		$ 4,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition		3 years 4 months 24 days
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
Increase In Compensation Cost Of Fully Vested Options		$ 123,000
2020 Equity Incentive Plan [Member] | Equity Option
Class Of Stock [Line Items]
Number of Modified Fully Vested Options		130,699
2020 Equity Incentive Plan [Member] | Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Compensation Cost for the Modified Unvested Restricted Stock Units		$ 416,000
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		1,766,284
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)		191,020		56,793
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