Stock-Based Compensation - Schedule of Weighted-Average Assumptions to Estimate Fair Value of Stock Options and Purchase Rights Under ESPP Using the Black-Scholes Option-Pricing Model (Details) |
12 Months Ended | |
---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
|
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] | ||
Expected term (in years) | 6 years | 6 years |
Expected volatility | 105.40% | 102.80% |
Risk-free interest rate | 2.40% | 0.90% |
Expected dividend rate | 0.00% | 0.00% |
2020 Employee Stock Purchase Plan | ||
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] | ||
Expected term (in years) | 1 year 4 months 24 days | 1 year 4 months 24 days |
Expected volatility | 77.20% | 78.70% |
Risk-free interest rate | 2.20% | 0.10% |
Expected dividend rate | 0.00% | 0.00% |