Stockholders' equity - Additional Information (Details) - USD ($)		1 Months Ended			12 Months Ended
	Jan. 01, 2021	Jan. 31, 2023	Nov. 30, 2022	Mar. 31, 2022	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Nov. 08, 2022
Class Of Stock [Line Items]
Common stock, shares issued					48,077,599	46,336,166
Preferred stock, shares authorized					200,000,000	200,000,000
Preferred stock, par value					$ 0.0001	$ 0.0001
Common stock, shares authorized					350,000,000	350,000,000
Common stock par value per share		$ 0.0001			$ 0.0001	$ 0.0001
Conversion of stock, description					Holders of the Company’s common stock have no conversion rights, while holders of the Company’s Class B common stock shall have the right to convert each share of Class B common stock into one share of common stock at such holder’s election, provided that as a result of such conversion, such holder would not beneficially own in excess of 4.99% of any class of the Company’s securities registered under the Securities Exchange Act of 1934
Period related to changing of ownership limitation percentage designated by Class B common stock holder					61 days
Warrants expired and unexercised				151,088			566,586
Vesting period				450 days			365 days
Fair value of options, vested					$ 6,700,000	$ 6,900,000
Share-based payment arrangement, nonvested award, cost not yet recognized, period for recognition					8 months 12 days
Total number of common shares reserved for issuance					8,776,826	7,329,913
Equity Option
Class Of Stock [Line Items]
Share-based payment arrangement, nonvested award, option, cost not yet recognized, amount					$ 15,600,000
Share-based payment arrangement, nonvested award, cost not yet recognized, period for recognition					2 years 9 months 18 days
Share-based compensation arrangement by share based payment award options grants in period weighted average grant date fair value					$ 2.61	$ 4.06
Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Number of shares, vested					433,948	446,260
Compensation expense on issuance of director compensation					$ 100,000
Share-based payment arrangement, nonvested award, option, cost not yet recognized, amount					$ 1,800
Restricted Stock Units (RSUs) | Board of Directors
Class Of Stock [Line Items]
Number of shares, vested					45,290
Open Market Sale Agreement
Class Of Stock [Line Items]
Maximum aggregate gross proceeds		$ 100,000,000
Common Stock Warrants
Class Of Stock [Line Items]
Vesting terms, description					The warrants became exercisable upon the Company's IPO for a period of 365 and 450 days
2020 Equity Incentive Plan
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
Compensation cost for the modified unvested restricted stock units					$ 416,000
Number of modified fully vested options					130,699
Increase in compensation cost of fully vested options					$ 123,000
2020 Equity Incentive Plan | Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Total number of modified unvested restricted stock units					139,730
Employees Stock Purchase Plan Shares
Class Of Stock [Line Items]
Common stock, shares issued					165,550	147,564
Common stock, shares authorized					1,737,098	1,229,148
Purchase common stock through payroll deductions of up to compensations, percent					15.00%
Share-based compensation arrangement by share based payment award percentage of outstanding stock maximum					1.00%
Increase in common stock authorized for issuance					929,658
Total number of common shares reserved for issuance						1,412,802
Stock-based compensation expense					$ 200,000
November 2022 Underwritten Offering
Class Of Stock [Line Items]
Sale of stock price per share								$ 6.67
Common stock, shares issued								9,745,128
Proceeds from underwritten offering, net of underwriting discounts and commissions and other offering costs			$ 61,700
Class B Common Stock
Class Of Stock [Line Items]
Common stock, shares issued					0	1,211,959
Common stock, shares authorized					15,368,569	15,368,569
Common stock par value per share					$ 0.0001	$ 0.0001
Common Stock
Class Of Stock [Line Items]
Common stock, voting rights					one
Common Stock Options | 2020 Equity Incentive Plan
Class Of Stock [Line Items]
Total number of modified unvested options					574,244
Compensation cost for the modified unvested options					$ 962,000