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Share-Based Compensation - Summary of Stock Option Activity (Details) - 2020 Plan and 2015 Plan - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of shares, outstanding beginning balance 4,204,686  
Number of shares, granted 2,327,820  
Number of shares, exercised (383,120)  
Number of shares, forfeited (630,111)  
Number of shares, outstanding ending balance 5,519,275 4,204,686
Number of shares, exercisable 2,337,753  
Number of shares, vested and expected to vest 5,519,275  
Weighted-average exercise price, outstanding beginning balance $ 19.19  
Weighted-average exercise price, granted 12.61  
Weighted-average exercise price, exercised 3.62  
Weighted-average exercise price, forfeited 21.99  
Weighted-average exercise price, outstanding ending balance 17.17 $ 19.19
Weighted-average exercise price, exercisable 17.49  
Weighted-average exercise price, vested and expected to vest $ 17.17  
Weighted-average remaining contractual term (in years), outstanding balance 8 years 1 month 6 days 8 years 2 months 12 days
Weighted-average remaining contractual term (in years), exercisable 7 years 4 months 24 days  
Weighted-average remaining contractual term (in years), vested and expected to vest 8 years 1 month 6 days  
Aggregate intrinsic value, outstanding balance $ 2,915  
Aggregate intrinsic value, exercisable 1,957  
Aggregate intrinsic value, vested and expected to vest $ 2,915