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Number of shares authorized for issuance under share-based payment arrangement.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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Maximum number of shares that may be issued in accordance with the plan as a proportion of outstanding capital stock.

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Number of shares purchased for issuance under share-based payment arrangement.

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Purchase price of common stock expressed as a percentage of its fair value.

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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	6 Months Ended
	Jul. 31, 2020	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023	Feb. 28, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average grant date fair value of options granted		$ 2.78	$ 3.44
Aggregate intrinsic value of options exercised		$ 13	$ 22
Cash received from options exercised		32	$ 100
Unrecognized compensation cost		$ 23,000
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average period over which cost expected to be recognized		2 years 7 months 6 days
Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average period over which cost expected to be recognized		3 years
Vesting period		4 years
Unrecognized compensation cost		$ 18,200
2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock reserved for issuance	11,183,476
Share-based compensation award term	10 years
Percentage increase of outstanding number of shares of common stock	5.00%
Inducement Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock issuable				3,517,105	2,000,000
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock reserved for issuance	615,000
Share-based compensation award term	10 years
Percentage increase of outstanding number of shares of common stock	1.00%
Share-based compensation shares issued in period	1,230,000
Offering period of common stock	six months
Percentage of the fair market value per share of common stock	85.00%
Total shares purchased by employees		310,054
Net proceeds from share purchase by employees		$ 500
2020 Employee Stock Purchase Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of annual compensation	15.00%
Number of shares purchased	3,000