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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Sep. 30, 2025	Dec. 31, 2024
Class Of Stock [Line Items]
Common stock reserved	19,381,754	14,594,720
Common stock reserved	1,053,719
Common stock reserved	92,216,910	93,715,852
Employee Stock Option [Member]
Class Of Stock [Line Items]
Common stock reserved	19,381,754	14,594,720
Stock Options Reserved for 2020 Incentive Award Plan [Member]
Class Of Stock [Line Items]
Common stock reserved	1,053,719	2,109,758
Unvested Restricted Stock Units Outstanding [Member]
Class Of Stock [Line Items]
Common stock reserved	1,308,942	770,028
Common Stock Reserved for Employee Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Common stock reserved	2,959,996	1,983,924
2022 Employment Inducement Award Plan [Member]
Class Of Stock [Line Items]
Common stock reserved	3,077,259	3,359,230
Pre-Funded Warrants [Member]
Class Of Stock [Line Items]
Common stock reserved	38,543,577	38,543,577
Common Warrants [Member]
Class Of Stock [Line Items]
Common stock reserved	6,877,622	8,104,615
2024 ATM Program [Member]
Class Of Stock [Line Items]
Common stock reserved	19,014,041	24,250,000

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