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Share-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions | 6 Months Ended |
--- | --- | ---
Jun. 30, 2023 | Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Weighted average grant date fair value of stock option | $ 4.14 |
Unrecognized compensation cost | $ 29.3 |
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period | 2 years 8 months 1 day |
Restricted Stock |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Shares subject to repurchase | 0 | 508
Restricted Stock Units |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Unrecognized compensation cost | $ 5.2 |
Unrecognized compensation cost, expected to be recognized over weighted average remaining service period | 3 years 3 months 3 days |
2020 Employee Stock Purchase Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Number of common stock authorized for issuance | 1,441,307 |
Number of common stock available for issuance | 1,284,321 |
Maximum percentage of employee compensation eligible for plan | 15.00% |
Commons stock purchase price as percentage of fair value | 85.00% |
Shares issued | 156,986 |
2020 Employee Stock Purchase Plan | Accrued and Other Current Liabilities |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Employee contributions to ESPP | $ 0.1 |
2020 Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Number of common stock authorized for issuance | 8,388,917 |
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 | 2,535,547 |

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