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Share-Based Compensation - Additional Information (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Aggregate cash proceeds | $ 445,000 |
Number of common stock available for issuance | 8,541,875 |
Unrecognized compensation cost | $ 34,200,000 |
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period | 2 years 6 months |
Contractual term of options granted | 10 years |
Dividends issued for options | $ 0 |
Dividends expected to be issued over life of options | $ 0 |
Estimated dividend yield | 0.00% |
Restricted Stock Options |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Shares subject to repurchase | 508 | 16,181
Restricted Stock Units |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Unrecognized compensation cost | $ 3,700 |
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period | 3 years 2 months 12 days |
2020 Employee Stock Purchase Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Shares issued | 61,754 | 0
Number of common stock authorized for issuance | 952,524 |
Aggregate cash proceeds | $ 400 |
Number of common stock available for issuance | 890,770 |
Maximum percentage of employee compensation eligible for plan | 15.00% |
Offering period | 6 months |
Commons stock purchase price as percentage of fair value | 85.00% |
Unrecognized compensation cost | $ 100 |
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period | 4 months 24 days |
2015 Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Shares issued | 1,344,048 |
2020 Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Number of common stock authorized for issuance | 5,945,002 |
Increase in share limit as percentage of outstanding shares of common stock on last trading day in prior year | 5.00% |
Number of common stock available for issuance | 1,775,102 |

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