Stockholders' Equity - Additional Information (Details) - USD ($)			3 Months Ended
	Feb. 26, 2023	Jan. 01, 2021	Mar. 31, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Total fair value of options vested			$ 2,700,000
Total number of common shares reserved for issuance			9,266,578	7,329,913
Common Stock, Shares Authorized			350,000,000	350,000,000
Equity Option
Class Of Stock [Line Items]
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount			$ 22,400,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition			3 years 6 months
Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Weighted Average Grant Date Fair Value			$ 2.69
Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount			$ 7,200,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition			1 year 1 month 6 days
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period			109,746
2020 Equity Incentive Plan [Member]
Class Of Stock [Line Items]
Common shares authorized for issuance			9,196,970	7,658,509
Shares available for awards, description		4
Vesting percentage			25.00%
Vesting period			36 months
Vesting terms, description			ten years
Modification of Two Thousand Twenty Equity Incentive Plan and certain awards [Member] | Equity Option
Class Of Stock [Line Items]
Share-Based Goods and Nonemployee Services Transaction, Modification of Terms, Incremental Compensation Cost	$ 123,000
Modification of Two Thousand Twenty Equity Incentive Plan and certain awards [Member] | Equity Option | Board Of Directors
Class Of Stock [Line Items]
Number of options unvested on modification date, number of shares	574,244
Recalculated compensation cost of the modified options	$ 962,000
RSUs fully vested on the modification date, number of shares	130,699
Modification of Two Thousand Twenty Equity Incentive Plan and certain awards [Member] | Restricted Stock Units (RSUs) | Board Of Directors
Class Of Stock [Line Items]
Recalculated compensation cost on the modified RSUs	$ 416,000
RSUs unvested on modification date, number of shares	139,730
Employees Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Total number of common shares reserved for issuance			1,578,352
Common Stock, Shares Authorized			1,737,098	1,229,148
Share-Based Compensation Arrangement by Share-Based Payment Award, Purchase Price of Common Stock, Percent			15.00%
Share Based Compensation Arrangement By Share Based Payment Award Percentage Of Outstanding Stock Maximum			1.00%
Increase in issuance of common stock			929,658
Class B Common Stock
Class Of Stock [Line Items]
Common Stock, Shares Authorized			15,368,569	15,368,569