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Share-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 3 Months Ended | 6 Months Ended |
--- | --- | --- | --- | ---
May 31, 2023 | Jun. 30, 2020 | Jun. 30, 2023 | Mar. 31, 2023 | Jun. 30, 2022 | Mar. 31, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of options, Granted | 240,000 |  |  |  |  |  | 2,215,540 |  |
Vesting term | 10 years |  |  |  |  |  |  |  |
Options granted, Exercise price | $ 9.83 |  |  |  |  |  | $ 11.8 |  |
Common stock shares issued |  |  | 42,093,946 |  |  |  | 42,093,946 |  | 42,036,193
Number of options exercised |  |  |  |  |  |  | 16,050 |  |
Options, weighted-average exercise price |  |  |  |  |  |  | $ 2.67 |  |
Aggregate proceeds from exercise of options |  |  |  |  |  |  | $ 44 | $ 233 |
Restricted Share Units |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Unrecognized share-based compensation expense related to unvested restricted share units |  |  | $ 6,500 |  |  |  | $ 6,500 |  |
Unrecognized share-based compensation expense related to unvested stock options, weighted average period |  |  |  |  |  |  | 2 years 7 months 6 days |  |
Stock Options |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Unrecognized share-based compensation expense related to unvested stock options |  |  | $ 48,200 |  |  |  | $ 48,200 |  |
Unrecognized share-based compensation expense related to unvested stock options, weighted average period |  |  |  |  |  |  | 9 months 18 days |  |
Common Shares |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of options exercised |  |  | 14,050 | 2,000 | 44,268 | 12,235 |  |  |
2020 Employee Share Purchase Plan |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance |  |  | 1,445,331 |  |  |  | 1,445,331 |  |
Annual increases in number of shares available for issuance as percentage of outstanding shares common stock on final day of preceding calendar year |  | 1.00% |  |  |  |  |  |  |
Annual increases in number of shares available for issuance maximum number of common stock issued |  | 3,300,000 |  |  |  |  |  |  |
Purchase price of shares as percentage of fair market value of common stock on date of purchase |  | 85.00% |  |  |  |  |  |  |
Common stock shares issued |  | 0 | 41,703 |  |  |  | 41,703 |  |
Shares issued, price per share |  |  | $ 9.8 |  |  |  | $ 9.8 |  |
Cash received from purchases under ESPP |  |  |  |  |  |  | $ 400 |  |
2020 Employee Share Purchase Plan | Maximum |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock initially reserved for future issuance |  | 327,000 |  |  |  |  |  |  |
Option Plan |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance |  | 298,605 |  |  |  |  |  |  |
Option Plan | Common Shares |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares ceased granting |  | 4,074,135 |  |  |  |  |  |  |
2020 Equity Incentive Plan |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance |  |  | 10,026,479 |  |  |  | 10,026,479 |  |
Annual increases in number of shares available for issuance as percentage of outstanding shares common stock on final day of preceding calendar year |  |  |  |  |  |  | 5.00% |  |
2020 Equity Incentive Plan | Maximum |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance |  | 3,807,448 |  |  |  |  |  |  |
Shares of common stock initially reserved for future issuance |  | 3,600,000 |  |  |  |  |  |  |

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