Stock-Based Compensation - Summary of Option Award Activity (Details) - 2020 Incentive Award Plan - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	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	1,202,000	653,000
Options granted, Number of Shares	834,000	592,000
Options cancelled, Number of Shares	(62,000)	(43,000)
Outstanding at end of period, Number of shares	1,974,000	1,202,000	653,000
Vested and expected to vest at December 31, 2023, Number of Shares	1,974,000
Vested and exercisable at December 31, 2023, Number of Shares	960,000
Outstanding at beginning of period, Weighted Average Exercise Price	$ 6.91	$ 7.57
Options granted, Weighted Average Exercise Price	2.98	6.19
Options cancelled, Weighted Average Exercise Price	5.01	6.88
Outstanding at end of period, Weighted Average Exercise Price	5.31	$ 6.91	$ 7.57
Vested and expected to vest at December 31, 2023, Weighted Average Exercise Price	5.31
Vested and exercisable at December 31, 2023, Weighted Average Exercise Price	$ 6.48
Outstanding at end of period, Weighted Average Remaining Contractual Term (in Years)	8 years	8 years 8 months 12 days	9 years 3 months 18 days
Vested and expected to vest at December 31, 2023, Weighted Average Remaining Contractual Term (in Years)	8 years
Vested and exercisable at December 31, 2023, Weighted Average Remaining Contractual Term (in Years)	7 years 2 months 12 days
Outstanding at December 31, 2023, Aggregate Intrinsic Value	$ 429
Vested and expected to vest at December 31, 2023, Aggregate Intrinsic Value	429
Vested and exercisable at December 31, 2023, Aggregate Intrinsic Value	$ 42