Stock-Based Compensation - Schedule of valuation assumptions (Details)	6 Months Ended
Jun. 30, 2023	Jun. 30, 2022
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected dividends	0.00%
Stock options \| 2020 Stock Incentive Plan \| Black-Scholes Option Pricing Model
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term - years	6 years 29 days	6 years 29 days
Expected volatility	84.80%	82.00%
Risk-free interest rate	3.60%	2.00%
Expected dividends	0.00%	0.00%
Stock options \| 2020 Stock Incentive Plan \| Monte Carlo Option Pricing Model
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term - years	4 years	4 years
Expected volatility	80.00%	80.00%
Risk-free interest rate	3.60%	1.40%
Expected dividends	0.00%	0.00%
ESPP \| 2020 Employee Stock Purchase Plan \| Black-Scholes Option Pricing Model
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term - years	5 months 26 days	5 months 26 days
Expected volatility	84.80%	81.80%
Risk-free interest rate	3.50%	2.00%
Expected dividends	0.00%	0.00%

The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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- Definition

The risk-free interest rate assumption that is used in valuing an option on its own shares.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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