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Stockholders' Equity - Additional Information (Details) - USD ($) |  |  | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | --- | ---
Feb. 26, 2023 | Jan. 01, 2021 | Sep. 30, 2023 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022
Class Of Stock [Line Items] |  |  |  |  |  |
Total number of common shares reserved for issuance |  |  | 8,958,119 | 8,958,119 |  | 7,329,913
Common Stock, Shares Authorized |  |  | 350,000,000 | 350,000,000 |  | 350,000,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition |  |  |  | 9 months 18 days |  |
Equity Option |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount |  |  | $ 17,600,000 | $ 17,600,000 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition |  |  |  | 3 years |  |
Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Weighted Average Grant Date Fair Value |  |  |  | $ 2.62 |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount |  |  | 2,900,000 | $ 2,900,000 |  |
Number of Shares, Vested |  |  |  | 361,412 |  |
Compensation expense on issuance of director compensation |  |  | $ 27,000 | $ 80,000 |  |
Restricted Stock Units (RSUs) | Board Of Directors |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Number of Shares, Vested |  |  |  | 34,468 |  |
2020 Equity Incentive Plan [Member] |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Common shares authorized for issuance |  |  | 9,196,970 | 9,196,970 |  | 7,658,509
Shares available for awards, description |  | 4% |  |  |  |
Vesting percentage |  |  |  | 25.00% |  |
Vesting period |  |  |  | 36 months |  |
Vesting terms, description |  |  |  | ten years |  |
Modification of Two Thousand Twenty Equity Incentive Plan and certain awards [Member] | Equity Option |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Share-Based Goods and Nonemployee Services Transaction, Modification of Terms, Incremental Compensation Cost | $ 123,000 |  |  |  |  |
Modification of Two Thousand Twenty Equity Incentive Plan and certain awards [Member] | Equity Option | Board Of Directors |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Number of options unvested on modification date, number of shares | 574,244 |  |  |  |  |
Recalculated compensation cost of the modified options | $ 962,000 |  |  |  |  |
RSUs fully vested on the modification date, number of shares | 130,699 |  |  |  |  |
Modification of Two Thousand Twenty Equity Incentive Plan and certain awards [Member] | Restricted Stock Units (RSUs) | Board Of Directors |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Recalculated compensation cost on the modified RSUs | $ 416,000 |  |  |  |  |
RSUs unvested on modification date, number of shares | 139,730 |  |  |  |  |
Employees Stock Purchase Plan [Member] |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Total number of common shares reserved for issuance |  |  | 1,521,559 | 1,521,559 |  |
Common Stock, Shares Authorized |  |  | 1,737,098 | 1,737,098 |  | 1,229,148
Share-Based Compensation Arrangement by Share-Based Payment Award, Purchase Price of Common Stock, Percent |  |  |  | 15.00% |  |
Share Based Compensation Arrangement By Share Based Payment Award Percentage Of Outstanding Stock Maximum |  |  |  | 1.00% |  |
Increase in issuance of common stock |  |  |  | 929,658 |  |
Common stock shares issued under ESPP |  |  |  | 56,793 | 9,482 |
Class B Common Stock |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Common Stock, Shares Authorized |  |  | 15,368,569 | 15,368,569 |  | 15,368,569

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