Equity Incentive Plans - Summary of Estimated Fair Value of Employee Stock Options (Details)	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Fair Value Assumptions
Expected volatility, Minimum	69.30%	71.30%	69.30%	71.30%
Expected volatility, Maximum	69.60%	72.10%	71.10%	74.00%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Expected term (in years)		5 years 4 months 24 days
Risk-free interest rate, Minimum	3.50%	4.20%	3.50%	3.50%
Risk-free interest rate, Maximum	4.40%	4.40%	4.50%	4.40%
2020 Employee Stock Purchase Plan
Fair Value Assumptions
Expected volatility, Minimum	38.80%	74.00%	38.10%	74.00%
Expected volatility, Maximum	57.80%	79.60%	62.70%	99.70%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Risk-free interest rate, Minimum	4.80%	4.20%	4.80%	4.20%
Risk-free interest rate, Maximum	5.40%	5.40%	5.40%	5.40%
Minimum
Fair Value Assumptions
Expected term (in years)				5 years 3 months 18 days
Minimum | 2020 Employee Stock Purchase Plan
Fair Value Assumptions
Expected term (in years)	6 months	6 months	6 months	6 months
Maximum
Fair Value Assumptions
Expected term (in years)				5 years 4 months 24 days
Maximum | 2020 Employee Stock Purchase Plan
Fair Value Assumptions
Expected term (in years)	2 years	2 years	2 years	2 years