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Common Stock - Schedule of Reserved Shares of Common Stock for Future Issuance (Details) - shares
Dec. 31, 2023
Dec. 31, 2022
Class Of Stock [Line Items]    
Reserved shares of common stock for future issuance 11,417,782 9,440,355
Shares Issuable Upon the Exercise of Outstanding Common Stock Options and the Vesting of Outstanding Common Restricted Stock Units Granted    
Class Of Stock [Line Items]    
Reserved shares of common stock for future issuance 7,130,956 4,269,861
Shares Available for Future Grant under 2020 Equity Incentive Plan    
Class Of Stock [Line Items]    
Reserved shares of common stock for future issuance 3,158,094 4,253,854
Shares Available for Future Grant under Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Reserved shares of common stock for future issuance 1,128,732 916,640