Stock-Based Compensation - 2020 Employee Stock Purchase Plan - Summary of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for 2020 Employee Stock Purchase Plan (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected dividends	0.00%
Shares of common stock available for future issuance under the 2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate, minimum	0.60%	0.06%
Risk-free interest rate, maximum	3.34%	0.07%
Expected term (in years)	6 months	6 months	0 years
Expected volatility, minimum	63.17%	67.16%
Expected volatility, maximum	82.02%	89.51%
Expected dividends	0.00%	0.00%