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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares | 9 Months Ended | 12 Months Ended
--- | --- | ---
Sep. 30, 2023 | Dec. 31, 2022
Class Of Stock [Line Items] |  |
Common Stock, Shares, Issued | 47,907,395 | 46,336,166
Common Stock, Shares, Outstanding | 47,907,395 | 46,336,166
Total number of common shares reserved for issuance | 8,958,119 | 7,329,913
Common Stock Options and Restricted Stock Units [Member] |  |
Class Of Stock [Line Items] |  |
Common Stock, Shares, Issued | 6,523,605 | 3,246,957
Common Stock, Shares, Outstanding | 6,523,605 | 3,246,957
2020 Plan [Member] |  |
Class Of Stock [Line Items] |  |
Awards available for future issuance | 912,955 | 3,012,554
Employees Stock Purchase Plan [Member] |  |
Class Of Stock [Line Items] |  |
Awards available for future issuance | 1,521,559 | 1,070,402
Total number of common shares reserved for issuance | 1,521,559 |

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