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Common Stock - Summary of Shares Reserved for Future Issuance (Details) - shares
Dec. 31, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 12,544,982 11,435,241
Shares of common stock available for future grants under the 2020 Stock Option and Incentive Plan    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 2,882,239 2,937,769
Shares of common stock available for future issuance under the 2020 ESPP    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 805,756 888,184
Shares of common stock available for future issuance under the 2022 Inducement Plan    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 700,000 1,000,000
Outstanding stock option awards    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 6,953,487 5,569,567
Restricted stock units    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 874,748 507,925
Performance Stock Units    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 328,752 531,796
Performance-based restricted stock units    
Class of Stock [Line Items]    
Target level of achievement percentage 100.00%