Stock-Based Compensation - Summary of Shares Available for Issuance Under 2020 Plan (Details) - 2020 Incentive Award Plan - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Balance	1,002,000	1,082,000
Authorized	555,000	549,000
Granted/Awarded	(1,380,000)	(678,000)
Cancelled	117,000	49,000
Balance	294,000	1,002,000