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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | ---
Jul. 09, 2020 | Sep. 30, 2020 | Dec. 31, 2023 | Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Weighted average grant date fair value of options granted |  |  | $ 1.94 | $ 3.9
Total fair value of options vested |  |  | $ 2,264 | $ 2,501
Total unrecognized compensation expense |  |  | $ 2,412 |
Total unrecognized compensation expense, weighted-average period of recognition |  |  | 2 years 1 month 6 days |
Dividends |  |  | 0.00% | 0.00%
Common stock, shares authorized |  |  | 150,000,000 | 150,000,000
2020 Employee Stock Purchase Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Common stock reserved |  |  | 147,000 |
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 | 451,000 |
Shares of common stock have been issued to employees |  |  | 304,000 |
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] |  |  |  |
Vesting period |  |  | 3 years |
Total fair value of restricted stock awards vested |  |  | $ 6,342 | $ 7,240
Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total unrecognized compensation expense, weighted-average period of recognition |  |  | 1 year 2 months 12 days |
Total fair value of restricted stock awards vested |  |  | $ 466 |
Total unrecognized compensation expense |  |  | $ 885 |
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% |
Minimum | Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Vesting period |  |  | 1 year |
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 |
Maximum | Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Vesting period |  |  | 4 years |
2020 Incentive Award Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Common stock reserved | 3,333,000 |  | 4,984,000 |
Percentage of outstanding shares of common stock | 5.00% |  |  |
Weighted-average grant date fair value |  |  | $ 2.73 |
Number of stock awards granted |  |  | 546,000 |
2020 Incentive Award Plan | Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Weighted-average grant date fair value |  |  |  | $ 6.33
Number of stock awards granted |  |  |  | 86,000

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