Stockholders' Equity - Additional Information (Details) - USD ($)							1 Months Ended		12 Months Ended
	Nov. 27, 2023	Dec. 15, 2022	Nov. 08, 2022	Aug. 06, 2021	Jul. 02, 2021	Jun. 16, 2020	Nov. 30, 2023	Jun. 30, 2020	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares authorized (in shares)						400,000,000			400,000,000	400,000,000
Preferred stock undesignated shares authorized (in shares)						40,000,000
Common stock par value per share (in dollars per share)						$ 0.0001			$ 0.0001	$ 0.0001
Preferred stock par value per share (in dollars per share)						$ 0.0001
Preferred stock, shares outstanding (in shares)									0	0	0
Public offering issuance costs										$ 18,230,000	$ 11,262,000
Proceeds from issuance of common stock in public offerings, net of issuance costs									$ 60,547,000	344,779,000	174,677,000
Issuance of common stock, net of issuance costs										344,616,000	174,677,000
Award vesting period									4 years
Total stock-based compensation expense									$ 38,222,000	$ 27,139,000	$ 17,056,000
Expected dividend yield									0.00%
Unrecognized compensation cost, options									$ 66,000,000
Research Collaboration, License Agreement and Securities Purchase Agreement with BMS
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock, consideration received on transaction							$ 40,000,000
Employee Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares available for grant (in shares)									372,517
Weighted-average period of unrecognized compensation cost									6 months
Participant maximum contribution as percentage of eligible compensation								15.00%
Expected volatility rate period									6 months
Award offering period									6 months
Percentage of purchase price of shares of lower of fair market value								85.00%
Shares issued under ESPP (in shares)									175,511	90,535	33,147
Expected term (in years)									6 months	6 months	6 months
Expected dividend yield									0.00%	0.00%	0.00%
Unrecognized compensation cost, excluding options									$ 400,000
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average period of unrecognized compensation cost									2 years 6 months
Expected dividend yield									0.00%	0.00%	0.00%
Performance stock units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period									2 years
Granted (in shares)									750,000
Granted (in dollars per share)									$ 6.57
PSUs vested (in shares)									0
Total stock-based compensation expense									$ 0
Unrecognized compensation cost									$ 4,900,000
Restricted stock units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period									4 years
Weighted-average period of unrecognized compensation cost									4 years
Granted (in shares)									822,000
Granted (in dollars per share)									$ 18.89
PSUs vested (in shares)									0
Unrecognized compensation cost									$ 11,100,000
Accounts Payable and Accrued Liabilities | Employee Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding liability									$ 100,000
Maximum | Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)									6 years 1 month 6 days	6 years 1 month 6 days	6 years 1 month 6 days
Minimum | Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)									5 years 6 months	5 years 6 months	5 years 6 months
Weighted Average | Restricted stock units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average period of unrecognized compensation cost									3 years 2 months 12 days
2013 Equity Incentive Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period									10 years
2020 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance (in shares)								3,900,000
Percentage of shares of common stock outstanding on final day of immediately preceding calendar year								5.00%
Shares available for grant (in shares)									499,402
Additional shares reserved for future issuance (in shares)									3,500,000
2020 Incentive Award Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period									10 years
2022 Employment Inducement Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for future issuance (in shares)										1,500,000
Shares available for grant (in shares)									737,475
2022 Employment Inducement Incentive Award Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period									10 years
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Issuance of common stock, net of issuance costs										$ 2,000	$ 1,000
Shares issued under ESPP (in shares)									176,000	91,000	33,000
Public Offering
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction (in shares)						16,560,000
Sale of stock, price per share (in dollars per share)						$ 18.00
Public offering issuance costs						$ 24,000,000
Proceeds from the IPO, net of underwriting discounts, commissions and offering costs						$ 274,100,000
Private Placement, 2021 Sales Agreement | Sales Agent
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction (in shares)									4,107,810,000	7,771,812
Public offering issuance costs									$ 1,400,000	$ 3,700,000
Sale of common stock maximum aggregate offering price					$ 150,000,000
Proceeds from issuance of common stock in public offerings, net of issuance costs									60,500,000	$ 121,100,000
Private Placement, 2022 Sales Agreement | Sales Agent
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of common stock maximum aggregate offering price			$ 200,000,000
Follow-on Public Offering | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction (in shares)		13,800,000		9,200,000
Sale of stock, price per share (in dollars per share)		$ 17.25		$ 18.00
Public offering issuance costs		$ 14,300,000		$ 10,500,000
Sale of stock, consideration received on transaction		$ 223,800,000		$ 155,100,000
Private Placement
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Public offering issuance costs									74,000
Issuance of common stock, net of issuance costs									31,190,000
Private Placement | Research Collaboration, License Agreement and Securities Purchase Agreement with BMS
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction (in shares)	5,075,304						5,075,304
Sale of stock, price per share (in dollars per share)							$ 7.8813
Public offering issuance costs	$ 100,000
Sale of stock, consideration received on transaction	40,000,000						$ 40,000,000
Issuance of common stock, net of issuance costs	$ 31,200,000
Premium In excess of fair value							$ 8,700,000
Private Placement | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Issuance of common stock, net of issuance costs									$ 1,000