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Stock-Based Compensation - Summary of Option Award Activity (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]    
Outstanding at beginning of period, Number of shares 653,000  
Options granted, Number of Shares 592,000 674,000
Options cancelled, Number of Shares (43,000) (21,000)
Outstanding at end of period, Number of shares 1,202,000 653,000
Vested and expected to vest at December 31, 2022, Number of Shares 1,202,000  
Vested and exercisable at December 31, 2022, Number of Shares 431,000  
Outstanding at beginning of period, Weighted Average Exercise Price $ 7.57  
Options granted, Weighted Average Exercise Price 6.19 $ 7.59
Options cancelled, Weighted Average Exercise Price 6.88 8.27
Outstanding at end of period, Weighted Average Exercise Price 6.91 $ 7.57
Vested and expected to vest at December 31, 2022, Weighted Average Exercise Price 6.91  
Vested and exercisable at December 31, 2022, Weighted Average Exercise Price $ 7.49  
Outstanding at end of period, Weighted Average Remaining Contractual Term (in Years) 8 years 8 months 12 days 9 years 3 months 18 days
Vested and expected to vest at December 31, 2022, Weighted Average Remaining Contractual Term (in Years) 8 years 8 months 12 days  
Vested and exercisable at December 31, 2022, Weighted Average Remaining Contractual Term (in Years) 8 years 4 months 24 days