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Stock-Based Compensation - Narrative (Details)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 6 Months Ended
Jan. 01, 2023
shares
Jan. 01, 2021
Oct. 31, 2020
USD ($)
shares
Jun. 30, 2023
USD ($)
shares
Jun. 30, 2022
USD ($)
shares
Jun. 30, 2023
USD ($)
$ / shares
shares
Jun. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2020
Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Grant date fair value (in dollars per share) | $ / shares           $ 2.38 $ 4.48    
Unrecognized compensation cost       $ 12,600   $ 12,600      
Intrinsic value of options exercised           0 $ 100    
Aggregate intrinsic value of options exercisable       300   300      
Aggregate intrinsic value of options outstanding       300   300      
Total stock-based compensation       1,852 $ 1,533 $ 3,535 $ 3,046    
Stock options                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Weighted-average amortization period           2 years 4 months 9 days      
Expected dividends           0.00%      
Restricted Stock Units (RSUs)                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Weighted-average amortization period           3 years 2 months 26 days      
Total stock-based compensation           $ 400      
Unrecognized compensation cost for RSU       $ 2,800   $ 2,800      
2020 Stock Incentive Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Increase in number of shares authorized, percentage of capital stock outstanding                 0.04
Common stock, additional capital shares reserved for future issuance (in shares) | shares 1,695,623                
Shares reserved for future issuance (in shares) | shares       3,596,862   3,596,862      
Stock-based compensation, vesting period           4 years      
Share-based compensation, expiration period           10 years      
2020 Employee Stock Purchase Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Increase in number of shares authorized, percentage of capital stock outstanding               0.01  
Common stock, additional capital shares reserved for future issuance (in shares) | shares 423,905                
Shares reserved for future issuance (in shares) | shares     395,795 1,216,723   1,216,723      
Purchase price of common stock in percent     85.00%            
Contribution limit in percentage of employee's eligible compensation     15.00%            
Maximum value of shares per employee during any calendar year     $ 25            
Maximum number of shares per employee during any one purchase period (in shares) | shares     600            
Annual increase in number of shares authorized, term   10 years              
Stock issued under ESPP (in shares) | shares       0 0 11,171 5,227    
Proceeds from ESPP           $ 100 $ 100