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Stock-Based Compensation and Employee Benefit Plans - Schedule of valuation assumptions (Details)
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected dividends 0.00%  
Stock options | 2020 Stock Incentive Plan | Black-Scholes Option Pricing Model    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term - years 6 years 29 days 6 years 29 days
Expected volatility 95.80% 84.80%
Risk-free interest rate 4.00% 3.50%
Expected dividends 0.00% 0.00%
Stock options | 2020 Stock Incentive Plan | Monte Carlo Option Pricing Model    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term - years 0 years 4 years
Expected volatility 0.00% 80.00%
Risk-free interest rate 0.00% 3.60%
Expected dividends 0.00% 0.00%
ESPP | 2020 Employee Stock Purchase Plan | Black-Scholes Option Pricing Model    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term - years 6 months 5 months 26 days
Expected volatility 158.60% 84.80%
Risk-free interest rate 5.10% 3.50%
Expected dividends 0.00% 0.00%