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Stock-Based Compensation - Summary of Option Award Activity (Details) - 2020 Incentive Award Plan - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Outstanding at beginning of period, Number of shares | 1,202,000 | 653,000 |
Options granted, Number of Shares | 834,000 | 592,000 |
Options cancelled, Number of Shares | (62,000) | (43,000) |
Outstanding at end of period, Number of shares | 1,974,000 | 1,202,000 | 653,000
Vested and expected to vest at December 31, 2023, Number of Shares | 1,974,000 |  |
Vested and exercisable at December 31, 2023, Number of Shares | 960,000 |  |
Outstanding at beginning of period, Weighted Average Exercise Price | $ 6.91 | $ 7.57 |
Options granted, Weighted Average Exercise Price | 2.98 | 6.19 |
Options cancelled, Weighted Average Exercise Price | 5.01 | 6.88 |
Outstanding at end of period, Weighted Average Exercise Price | 5.31 | $ 6.91 | $ 7.57
Vested and expected to vest at December 31, 2023, Weighted Average Exercise Price | 5.31 |  |
Vested and exercisable at December 31, 2023, Weighted Average Exercise Price | $ 6.48 |  |
Outstanding at end of period, Weighted Average Remaining Contractual Term (in Years) | 8 years | 8 years 8 months 12 days | 9 years 3 months 18 days
Vested and expected to vest at December 31, 2023, Weighted Average Remaining Contractual Term (in Years) | 8 years |  |
Vested and exercisable at December 31, 2023, Weighted Average Remaining Contractual Term (in Years) | 7 years 2 months 12 days |  |
Outstanding at December 31, 2023, Aggregate Intrinsic Value | $ 429 |  |
Vested and expected to vest at December 31, 2023, Aggregate Intrinsic Value | 429 |  |
Vested and exercisable at December 31, 2023, Aggregate Intrinsic Value | $ 42 |  |

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