Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		6 Months Ended
	Jan. 01, 2021	Jun. 30, 2025	Dec. 31, 2024	Jun. 30, 2024
Class Of Stock [Line Items]
Total number of common shares reserved for issuance		21,770,211	20,174,431
Common Stock, Shares Authorized		350,000,000	350,000,000
Common stock, shares issued (in shares)		58,721,588	58,099,164
Warrant Liability		$ 2,228	$ 3,811
Equity Option
Class Of Stock [Line Items]
Total fair value of options vested		2,400
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount		$ 4,700
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition		1 year 6 months 10 days
Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount		$ 2,800
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition		3 years 2 months 12 days
2020 Equity Incentive Plan [Member]
Class Of Stock [Line Items]
Common shares authorized for issuance		12,273,892	10,735,431
Percentage of Annual increased Shares	4.00%
Vesting percentage		25.00%
Vesting period		36 months
Vesting terms, description		ten years
Employees Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Total number of common shares reserved for issuance		2,310,693
Common Stock, Shares Authorized		3,035,873	2,281,600
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)		135,472		191,020
December Two Thousand Twenty Four [Member]
Class Of Stock [Line Items]
Common stock, shares issued (in shares)			9,679,158
Sale of Stock, Price Per Share			$ 0.952
Class of Warrant or Right, Number of Securities Called by Warrants or Rights			9,679,158
Class of Warrant or Right, Exercise Price of Warrants or Rights			$ 1.19
Aggregate Gross Proceeds		$ 9,200
Placement Agent Fees		700
Warrants and Rights Outstanding		$ 9,679,158
Warrants and Rights Outstanding, Term		5 years
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