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Equity Incentive Plans and Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 3 Months Ended
--- | --- | ---
Jul. 20, 2022 | Mar. 31, 2023 | Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense |  | $ 3,614 | $ 3,945
Number of shares granted |  | 1,796,570 |
Exchange Traded Options [Member] |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense |  | $ 3,700 |
Stock Options |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total unrecognized compensation expense related to outstanding unvested stock-based awards |  | $ 38,300 |
Total unrecognized compensation expense related to outstanding unvested stock-based awards expected to be recognized over weighted-average remaining service period |  | 3 years 1 month 6 days |
Stock-based compensation expense |  | $ 3,100 | 3,700
Stock Option, exercise Price, decrease | $ 4.36 |  |
Stock Options | 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 |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total unrecognized compensation expense related to outstanding unvested stock-based awards |  | $ 2,900 |
Total unrecognized compensation expense related to outstanding unvested stock-based awards expected to be recognized over weighted-average remaining service period |  | 2 years 4 months 24 days |
Stock-based compensation expense |  | $ 300 | 100
Employee Stock Purchase Plan |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock-based compensation expense |  | $ 200 | $ 100
2020 Equity Incentive Plan |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Number of shares available for future issuance |  | 2,418,516 |
2020 Equity Incentive Plan | Stock Options |  |  |
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 |  | 330,861 |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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