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Stock-Based Compensation - Narrative (Details) $ / shares in Units, $ in Thousands |  |  |  | 12 Months Ended |
--- | --- | --- | --- | --- | ---
Jan. 01, 2024 shares | Jan. 01, 2021 | Oct. 14, 2020 shares | Dec. 31, 2023 USD ($) $ / shares shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) | Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Grant date fair value (in dollars per share) | $ / shares |  |  |  | $ 2.50 | $ 4.03 |  |
Unrecognized compensation cost |  |  |  | $ 8,000 |  |  |
Aggregate intrinsic value of options exercised |  |  |  | 400 | $ 100 |  |
Aggregate intrinsic value of options outstanding |  |  |  | 6,600 |  |  |
Aggregate intrinsic value of options exercisable |  |  |  | 6,600 |  |  |
Stock-based compensation expense |  |  |  | 6,939 | 6,462 |  |
Defined contribution plan, cost |  |  |  | $ 700 | 500 |  |
Stock options |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Weighted-average amortization period |  |  |  | 1 year 11 months 8 days |  |  |
Expected dividends (in percentage) |  |  |  | 0.00% |  |  |
Restricted Stock Units |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Weighted-average amortization period |  |  |  | 2 years 8 months 12 days |  |  |
Unrecognized compensation cost for RSUs |  |  |  | $ 2,000 |  |  |
Stock-based compensation expense |  |  |  | $ 800 | $ 600 |  |
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
Additional number of shares reserved for future issuance (in shares) | shares | 1,890,404 |  |  |  |  |  |
Number of shares available for future grant (in shares) | shares |  |  |  | 3,983,756 |  |  |
Stock-based compensation, vesting period |  |  |  | 4 years |  |  |
Share-based compensation, expiration period |  |  |  | 10 years |  |  |
2020 Stock Incentive Plan | Tranche One |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Stock-based compensation, vesting period |  |  |  |  | 4 years |  |
Number of shares granted (in shares) | shares |  |  |  | 165,050 | 178,150,000,000 |  |
Closing price (in dollars per share) | $ / shares |  |  |  | $ 4.00 | $ 18.00 |  |
Threshold consecutive trading days |  |  |  | 30 days | 30 days |  |
2020 Stock Incentive Plan | Tranche Two |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Closing price (in dollars per share) | $ / shares |  |  |  | $ 5.00 |  |  |
2020 Stock Incentive Plan | Share-Based Payment Arrangement, Tranche Three |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Closing price (in dollars per share) | $ / shares |  |  |  | $ 6.00 |  |  |
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 |
Additional number of shares reserved for future issuance (in shares) | shares | 472,601 |  |  | 1,204,874 |  |  |
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 |  |  |  |  |  | $ 25,000 |
Maximum number of shares per employee during any one purchase period (in shares) | shares |  |  | 600 |  |  |  |
Share-based compensation arrangement by share-based payment award, annual increase in number of shares authorized, term |  | 10 years |  |  |  |  |
Stock issued under ESPP (in shares) | shares |  |  |  | 23,020 | 13,088,000,000 |  |
Proceeds from stock plans |  |  |  | $ 100 | $ 100 |  |

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