Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	12 Months Ended
	Dec. 31, 2024	Dec. 31, 2023
Class Of Stock [Line Items]
Common stock, shares issued (in shares)	58,099,164	48,077,599
Common stock, shares outstanding (in shares)	58,099,164	48,077,599
Total common stock reserved for future issuance	20,174,431	8,776,826
Warrants [Member]
Class Of Stock [Line Items]
Warrants for the purchase of common stock	9,679,158	0
Common Stock Options and Restricted Stock Units [Member]
Class Of Stock [Line Items]
Common stock, shares issued (in shares)	7,649,046	6,372,611
Common stock, shares outstanding (in shares)	7,649,046	6,372,611
2020 Plan [Member]
Class Of Stock [Line Items]
Awards	1,154,335	991,413
Employees Stock Purchase Plan Shares
Class Of Stock [Line Items]
Common stock, shares issued (in shares)	265,412	165,550
Awards	1,691,892	1,412,802
Total common stock reserved for future issuance	1,691,892