Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	6 Months Ended	12 Months Ended
	Jun. 30, 2024	Dec. 31, 2023	Jun. 30, 2023
Class Of Stock [Line Items]
Common Stock, Shares, Issued	48,326,138	48,077,599
Common Stock, Shares, Outstanding	48,326,138	48,077,599
Total number of common shares reserved for issuance	10,594,647	8,776,826
Common Stock Options and Restricted Stock Units [Member]
Class Of Stock [Line Items]
Common Stock, Shares, Issued	7,871,462	6,372,611
Common Stock, Shares, Outstanding	7,871,462	6,372,611
2020 Plan [Member]
Class Of Stock [Line Items]
Awards available for future issuance	956,901	991,413
Employees Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Common Stock, Shares, Issued	191,020		56,793
Awards available for future issuance	1,766,284	1,412,802
Total number of common shares reserved for issuance	1,766,284