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Stock-Based Compensation - Shares Reserved for Issuance (Details) - shares	Mar. 31, 2024	Dec. 31, 2023
Equity [Abstract]
Stock options reserved for future grant (shares)	7,435,442	7,054,222
Common stock awards reserved for future issuance under the 2020 Employee Stock Purchase Plan	2,859,434	2,859,434
Stock options issued and outstanding (shares)	5,217,617	4,760,366
Restricted stock units issued and outstanding (unvested) under 2020 Equity Incentive Plan	1,981,673	1,708,725
Total shares of common stock reserved (shares)	17,494,166	16,382,747

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- Definition

Common Stock, Capital Shares Reserved for Future Issuance, Effect Of Restricted Stock Units Available For Future Grant

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- Definition

Common Stock, Capital Shares Reserved for Future Issuance, Effect Of Stock Awards Available For Future Grant

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- Definition

Common Stock, Capital Shares Reserved for Future Issuance, Effect Of Stock Options Issued And Outstanding

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- Definition

Common Stock, Capital Shares Reserved for Future Issuance, Employee Stock Purchase Plan

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- Definition

Aggregate number of common shares reserved for future issuance.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02.29)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1

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