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Common Stock - Schedule of Common Stock for Future Issuance (Details) - shares
Mar. 31, 2024
Dec. 31, 2023
Class Of Stock [Line Items]    
Common stock reserved for future issuance 33,228,280 31,730,893
Outstanding Options to Purchase Common Stock    
Class Of Stock [Line Items]    
Common stock reserved for future issuance 16,734,632 13,985,538
Unvested Restricted Stock Units Of Common Stock    
Class Of Stock [Line Items]    
Common stock reserved for future issuance 3,842,457 2,850,112
Available for Future Issuance under the 2020 Incentive Award Plan    
Class Of Stock [Line Items]    
Common stock reserved for future issuance 4,842,626 8,945,644
Available for Issuance under the 2020 Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Common stock reserved for future issuance 5,634,648 3,775,682
Pre-funded Warrants Issued and Outstanding    
Class Of Stock [Line Items]    
Common stock reserved for future issuance 2,173,917 2,173,917