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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jul. 09, 2020
Sep. 30, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Weighted average grant date fair value of options granted     $ 3.90 $ 4.85        
Total fair value of options vested     $ 2,501 $ 466        
Total unrecognized compensation expense     $ 2,728          
Total unrecognized compensation expense, weighted-average period of recognition     2 years 7 months 6 days          
Dividends     0.00% 0.00%        
Common stock, shares authorized     150,000,000 150,000,000        
2020 Employee Stock Purchase Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for issuance     176,000          
Percentage of outstanding shares of common stock   1.00%            
Exercise price of option on fair value (as a percent)   85.00%            
Common stock, shares authorized   340,000            
Shares of common stock have been issued to employees     164,000          
Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Award vesting percentage     10.00%          
Restricted Stock Awards                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period     3 years          
Total unrecognized compensation expense, weighted-average period of recognition     7 months 6 days          
Total fair value of restricted stock awards vested     $ 7,240 $ 7,406        
Total unrecognized compensation expense     $ 2,796          
Restricted Stock Awards | Forecast                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of restricted stock awards are expected to vest         75,000 174,000 136,000 237,000
Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Total unrecognized compensation expense, weighted-average period of recognition     2 years 2 months 12 days          
Total unrecognized compensation expense     $ 346          
Minimum | Incentive Stock Options And Nonqualified Stock Options                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period     1 year          
Minimum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Exercise price of option on fair value (as a percent)     100.00%          
Minimum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Exercise price of option on fair value (as a percent)     110.00%          
Minimum | Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period     1 year          
Maximum | Incentive Stock Options And Nonqualified Stock Options                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Term of contract     10 years          
Vesting period     4 years          
Maximum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Term of contract     10 years          
Maximum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Term of contract     5 years          
Maximum | Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period     4 years          
2020 Incentive Award Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for issuance 3,333,000   4,429,000          
Percentage of outstanding shares of common stock 5.00%              
2020 Incentive Award Plan | Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Weighted-average grant date fair value     $ 6.33          
Number of stock awards granted     86,000