Stockholders' Equity - Additional Information (Details) - USD ($)		1 Months Ended	12 Months Ended
	Jan. 01, 2021	Jan. 31, 2023	Dec. 31, 2024	Dec. 31, 2023
Class Of Stock [Line Items]
Common stock, shares issued			58,099,164	48,077,599
Preferred stock, shares authorized			200,000,000	200,000,000
Preferred stock, par value			$ 0.0001	$ 0.0001
Common stock, shares authorized			350,000,000	350,000,000
Common stock par value per share			$ 0.0001	$ 0.0001
Warrant Liability			$ 3,811,000	$ 0
Conversion of stock, description			Holders of the Company’s common stock have no conversion rights, while holders of the Company’s Class B common stock shall have the right to convert each share of Class B common stock into one share of common stock at such holder’s election, provided that as a result of such conversion, such holder would not beneficially own in excess of 4.99% of any class of the Company’s securities registered under the Securities Exchange Act of 1934
Period related to changing of ownership limitation percentage designated by Class B common stock holder			61 days
Fair value of options, vested			$ 9,700,000	$ 6,700,000
Share-based payment arrangement, nonvested award, cost not yet recognized, period for recognition			3 years
Total common stock reserved for future issuance			20,174,431	8,776,826
Equity Option
Class Of Stock [Line Items]
Share-based payment arrangement, nonvested award, option, cost not yet recognized, amount			$ 7,700,000
Share-based payment arrangement, nonvested award, cost not yet recognized, period for recognition			2 years
Share-based compensation arrangement by share based payment award options grants in period weighted average grant date fair value			$ 2.04	$ 2.61
Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Number of shares, vested			99,104	433,948
Compensation expense on issuance of director compensation				$ 100,000
Share-based payment arrangement, nonvested award, option, cost not yet recognized, amount			$ 3,000,000
Restricted Stock Units (RSUs) | Board of Directors
Class Of Stock [Line Items]
Number of shares, vested				45,290
Open Market Sale Agreement
Class Of Stock [Line Items]
Common stock par value per share		$ 0.0001
Maximum aggregate gross proceeds		$ 100,000,000
2020 Equity Incentive Plan
Class Of Stock [Line Items]
Common shares authorized for issuance			10,735,431	9,196,970
Shares available for awards, description	4
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 | Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Total number of modified unvested restricted stock units				139,730
Employees Stock Purchase Plan Shares
Class Of Stock [Line Items]
Common stock, shares issued			265,412	165,550
Common stock, shares authorized			2,281,600	1,737,098
Purchase common stock through payroll deductions of up to compensations, 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
Total common stock reserved for future issuance			1,691,892
Stock-based compensation expense			$ 200,000	$ 200,000
December 2024 Offering and Warrant Issuance
Class Of Stock [Line Items]
Common stock price			$ 0.952
Common stock, shares issued			9,679,158
Purchase of common stock by warrants			9,679,158
Warrants excercise price			$ 1.19
Common stock warrants outstanding			$ 9,679,158
Warrants and Rights OutstandingTerm			5 years
Aggregate gross proceeds			$ 9,200,000
Placement agent fees			700,000
Warrant Liability			4,600,000
Issuance Costs			700,000
Allocation Of Issuance Costs To Equity			400,000
Allocation of the issuance costs to the liability-classified warrants			$ 300,000
Class B Common Stock
Class Of Stock [Line Items]
Common stock, shares issued			0	0
Common stock, shares authorized			15,368,569	15,368,569
Common stock par value per share			$ 0.0001	$ 0.0001
Common Stock
Class Of Stock [Line Items]
Common stock, voting rights			one
Common Stock Options | 2020 Equity Incentive Plan
Class Of Stock [Line Items]
Total number of modified unvested options				574,244
Compensation cost for the modified unvested options				$ 962,000