Stockholders' Equity and Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended		12 Months Ended
	Jul. 20, 2022	Jun. 30, 2023	Apr. 30, 2020	Dec. 31, 2023	Dec. 31, 2022	Jun. 24, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted				2,104,690
Intrinsic value of options exercised				$ 100	$ 100
Weighted-average grant-date fair value of options granted				$ 4.55	$ 10.61
Stock-based compensation expense				$ 15,226	$ 14,460
Issuance of common stock and pre-funded warrants, net (in shares)		9,285,710
Pre-funded warrants to purchase of common stock, shares		2,857,142
Exercise price per share		$ 0.0001				$ 0.0001
All pre-funded warrants remained outstanding				All pre-funded warrants remained outstanding as of December 31, 2023
Exchange Traded Options [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense				$ 3,700
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option, exercise price, decrease	$ 4.36
Stock-based compensation expense				12,700	13,400
Unrecognized compensation expense related to outstanding unvested stock-based awards				$ 29,800
Unrecognized compensation expense related to outstanding unvested stock-based awards expected to be recognized over weighted-average remaining service period				2 years 6 months
Employee Stock Option | Exchange Traded Options [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of stock options, exchanged	4,406,732
Restricted Stock Units (RSUs) [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense				$ 1,300	700
Unrecognized compensation expense related to outstanding unvested stock-based awards				$ 2,000
Unrecognized compensation expense related to outstanding unvested stock-based awards expected to be recognized over weighted-average remaining service period				1 year 9 months 18 days
2020 ESPP [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance				672,398
Additional number of shares available for future issuance			500,000
Percentage of outstanding shares of common stock			1.00%
Stock-based compensation expense				$ 1,200	$ 400
2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance				2,330,395
Additional number of shares available for future issuance				2,656,500
Percentage of outstanding shares of common stock				5.00%
2020 Equity Incentive Plan | Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted	4,406,732
2022 Inducement Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance				139,171