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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 3 Months Ended | 9 Months Ended |  |  |  |  |  |
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Jul. 31, 2020 | Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021 | Dec. 31, 2023 | Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Weighted average grant date fair value of options granted |  | $ 3.69 |  | $ 3.90 |  |  |  |  |  |  |
Total fair value of options vested |  | $ 461 |  | $ 2,082 |  |  |  |  |  |  |
Total unrecognized compensation expense |  | $ 3,161 |  | $ 3,161 |  |  |  |  |  |  |
Total unrecognized compensation expense, weighted-average period of recognition |  |  |  | 2 years 8 months 12 days |  |  |  |  |  |  |
Dividends |  | 0.00% | 0.00% | 0.00% | 0.00% |  |  |  |  |  |
Common stock, shares authorized |  | 150,000,000 |  | 150,000,000 |  |  |  |  |  |  | 150,000,000
2020 Employee Stock Purchase Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Percentage of outstanding shares of common stock |  |  |  | 1.00% |  |  |  |  |  |  |
Exercise price of option on fair value (as a percent) |  |  |  | 85.00% |  |  |  |  |  |  |
Common stock, shares authorized |  | 340,000 |  | 340,000 |  |  |  |  |  |  |
Incentive Stock Options | Share-based Payment Arrangement, Tranche Two |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Award vesting percentage |  |  |  | 10.00% |  |  |  |  |  |  |
Restricted Stock Awards |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Total unrecognized compensation expense, weighted-average period of recognition |  | 10 months 24 days |  |  |  |  |  |  |  |  |
Total fair value of restricted stock awards vested |  | $ 1,154 |  | $ 6,086 |  |  |  |  |  |  |
Total unrecognized compensation expense |  | $ 3,962 |  | $ 3,962 |  |  |  |  |  |  |
Restricted Stock Awards | Forecast |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of restricted stock awards are expected to vest |  |  |  |  |  | 75,000 | 174,000 | 136,000 | 237,000 | 113,000 |
Minimum | Incentive Stock Options And Nonqualified Stock Options |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  | 1 year |  |  |  |  |  |  |
Minimum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Exercise price of option on fair value (as a percent) |  |  |  | 100.00% |  |  |  |  |  |  |
Minimum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Exercise price of option on fair value (as a percent) |  |  |  | 110.00% |  |  |  |  |  |  |
Maximum | Incentive Stock Options And Nonqualified Stock Options |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Term of contract |  |  |  | 10 years |  |  |  |  |  |  |
Vesting period |  |  |  | 4 years |  |  |  |  |  |  |
Maximum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Term of contract |  |  |  | 10 years |  |  |  |  |  |  |
Maximum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Term of contract |  |  |  | 5 years |  |  |  |  |  |  |
2020 Incentive Award Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance | 3,333,000 | 4,429,000 |  | 4,429,000 |  |  |  |  |  |  |
Percentage of outstanding shares of common stock | 5.00% |  |  |  |  |  |  |  |  |  |
2020 Incentive Award Plan | Restricted Stock Units |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Total unrecognized compensation expense |  | $ 414 |  | $ 414 |  |  |  |  |  |  |
Total unrecognized compensation expense, weighted-average period of recognition |  |  |  | 2 years 6 months |  |  |  |  |  |  |

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