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Stock Plan - Stock-based Compensation Expense Related to Stock Options and RSU's Granted and Common Stock Issued under 2020 ESPP Recorded and Allocated (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Total stock-based compensation $ 12,375 $ 10,195 $ 5,340
Research and Development      
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Total stock-based compensation 5,518 3,466 1,440
General and Administrative      
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Total stock-based compensation $ 6,857 $ 6,729 $ 3,900