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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