Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2025	Dec. 31, 2024
Class Of Stock [Line Items]
Common Stock, Shares, Outstanding	58,721,588	58,099,164
Total number of common shares reserved for issuance	21,770,211	20,174,431
Warrant [Member]
Class Of Stock [Line Items]
Warrants for the purchase of common stock	9,679,158	9,679,158
Common Stock Options and Restricted Stock Units [Member]
Class Of Stock [Line Items]
Common Stock, Shares, Outstanding	8,518,984	7,649,046
2020 Plan [Member]
Class Of Stock [Line Items]
Awards available for future issuance under the 2020 Plan	1,261,376	1,154,335
Employees Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Awards available for future issuance under the ESPP	2,310,693	1,691,892
Total number of common shares reserved for issuance	2,310,693