Stock-Based Compensation - Summary of Option Award Activity (Details) - 2020 Incentive Award Plan - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding at December 31, 2022	1,202,000
Options granted	826,000
Options cancelled	(32,000)
Outstanding at June 30, 2023	1,996,000	1,202,000
Vested and expected to vest at June 30, 2023	1,996,000
Vested and exercisable at June 30, 2023	710,000
Outstanding at beginning of period, Weighted Average Exercise Price	$ 6.91
Options granted, Weighted Average Exercise Price	2.97
Options cancelled, Weighted Average Exercise Price	5.6
Outstanding at end of period, Weighted Average Exercise Price	5.3	$ 6.91
Vested and expected to vest at June 30, 2023, Weighted Average Exercise Price	5.3
Vested and exercisable at June 30, 2023, Weighted Average Exercise Price	$ 7.01
Options Outstanding, Weighted Average Remaining Contractual Term (in Years)	8 years 9 months 18 days	8 years 8 months 12 days
Vested and expected to vest at June 30, 2023, Weighted Average Remaining Contractual Term (in Years)	8 years 9 months 18 days
Vested and exercisable at June 30, 2023, Weighted Average Remaining Contractual Term (in Years)	8 years 1 month 6 days
Outstanding at June 30, 2023, Aggregate Intrinsic Value	$ 1,037
Vested and expected to vest at June 30, 2023, Aggregate Intrinsic Value	1,037
Vested and exercisable at June 30, 2023, Aggregate Intrinsic Value	$ 23