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Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jan. 01, 2021 | Jun. 30, 2024 | Dec. 31, 2023 | Jun. 30, 2023
Class Of Stock [Line Items] |  |  |  |
Total number of common shares reserved for issuance |  | 10,594,647 | 8,776,826 |
Common Stock, Shares Authorized |  | 350,000,000 | 350,000,000 |
Common stock, shares issued (in shares) |  | 48,326,138 | 48,077,599 |
Equity Option |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Total fair value of options vested |  | $ 6,200 |  |
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount |  | $ 11,600 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition |  | 2 years 5 months 8 days |  |
Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Weighted Average Grant Date Fair Value |  | $ 2.19 |  |
Restricted Stock Units (RSUs) |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount |  | $ 4,000 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition |  | 3 years 4 months 24 days |  |
2020 Equity Incentive Plan [Member] |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Common shares authorized for issuance |  | 10,735,431 | 9,196,970 |
Percentage of Annual increased Shares | 4.00% |  |  |
Vesting percentage |  | 25.00% |  |
Vesting period |  | 36 months |  |
Vesting terms, description |  | ten years |  |
Increase In Compensation Cost Of Fully Vested Options |  | $ 123,000 |  |
2020 Equity Incentive Plan [Member] | Equity Option |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Number of Modified Fully Vested Options |  | 130,699 |  |
2020 Equity Incentive Plan [Member] | Restricted Stock Units (RSUs) |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Compensation Cost for the Modified Unvested Restricted Stock Units |  | $ 416,000 |  |
Total Number of Modified Unvested Restricted Stock Units |  | 139,730 |  |
Employees Stock Purchase Plan [Member] |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Total number of common shares reserved for issuance |  | 1,766,284 |  |
Common Stock, Shares Authorized |  | 2,281,600 | 1,737,098 |
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 (in shares) |  | 191,020 |  | 56,793
Class B Common Stock |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Common Stock, Shares Authorized |  | 15,368,569 | 15,368,569 |
Common stock, shares issued (in shares) |  | 0 | 0 |
Common Stock Options | 2020 Equity Incentive Plan [Member] |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Total Number of Modified Unvested Options |  | 574,244 |  |
Compensation Cost for the Modified Unvested Options |  | $ 962,000 |  |

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