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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