Stock-Based Compensation - Summary of Shares Available for Issuance Under 2020 Plan (Details) - 2020 Incentive Award Plan - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Balance	1,082,000	1,188,000
Authorized	549,000	547,000
Granted/Awarded	(678,000)	(674,000)
Cancelled	49,000	21,000
Balance	1,002,000	1,082,000