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Stock-Based Compensation - Stock option valuation (Details) - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
2020 Employee Stock Option and Incentive Plan    
Stock-Based Compensation    
Risk-free interest rate 2.70% 1.10%
Expected volatility 67.00% 65.00%
Expected dividend yield 0.00% 0.00%
Expected term (in years) 6 years 6 years
2020 ESPP    
Stock-Based Compensation    
Shares issued 56,486 0
Risk-free interest rate 3.20%  
Expected volatility 90.00%  
Expected dividend yield 0.00%  
Expected term (in years) 6 months