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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jul. 09, 2020
Sep. 30, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Jul. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Weighted average grant date fair value of options granted     $ 4.85                    
Total fair value of options vested     $ 466                    
Total unrecognized compensation expense     $ 2,180                    
Total unrecognized compensation expense, weighted-average period of recognition     2 years 7 months 6 days                    
Dividends     0.00%                    
Common stock, shares authorized     150,000,000 150,000,000                 150,000,000
2020 Employee Stock Purchase Plan                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Common stock reserved for issuance     283,000                    
Percentage of outstanding shares of common stock   1.00%                      
Exercise price of option on fair value (as a percent)   85.00%                      
Common stock, shares authorized   340,000                      
Shares of common stock have been issued to employees     57                    
Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Award vesting percentage     10.00%                    
Restricted Stock Awards                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Vesting period     3 years                    
Total unrecognized compensation expense, weighted-average period of recognition     1 year 7 months 6 days                    
Total fair value of restricted stock awards vested     $ 7,406 $ 970                  
Weighted-average grant date fair value       $ 10.30                  
Number of stock awards granted     0                    
Total unrecognized compensation expense     $ 7,493                    
Restricted Stock Awards | Forecast                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Number of restricted stock awards are expected to vest         75,000 180,000 136,000 237,000 113,000 113,000 140,000 338,000  
Minimum | Incentive Stock Options And Nonqualified Stock Options                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Vesting period     1 year                    
Minimum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Exercise price of option on fair value (as a percent)     100.00%                    
Minimum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Exercise price of option on fair value (as a percent)     110.00%                    
Maximum | Incentive Stock Options And Nonqualified Stock Options                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Term of contract     10 years                    
Vesting period     4 years                    
Maximum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Term of contract     10 years                    
Maximum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Term of contract     5 years                    
2020 Incentive Award Plan                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Common stock reserved for issuance 3,333,000   3,880,000                    
Percentage of outstanding shares of common stock 5.00%