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Stock-Based Compensation Expense - Additional Information (Details) - USD ($) |  |  |  |  |  |  |  | 1 Months Ended | 12 Months Ended |  |
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Jan. 01, 2025 | Jan. 01, 2024 | May 25, 2023 | Jan. 01, 2023 | Sep. 03, 2022 | Jun. 30, 2022 | Jun. 01, 2022 | Mar. 31, 2024 | Oct. 31, 2023 | Apr. 30, 2020 | Dec. 31, 2024 | Dec. 31, 2023 | Dec. 09, 2022 | Feb. 28, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares granted |  |  |  |  |  |  |  |  |  |  | 2,605,002 |  |  |
Shares of common stock reserved for future issuances |  |  |  |  |  |  |  |  |  |  | 19,348,497 |  |  |
Stock-based compensation expense recorded as liability |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 255,000 |  |
Stock-based compensation expense |  |  |  |  |  |  |  |  |  |  | $ 6,716,000 | $ 5,887,000 |  |
Weighted-average fair value of options granted to employees, directors and non-employees |  |  |  |  |  |  |  |  |  |  | $ 2.80 | $ 2.13 |  |
Aggregate intrinsic value of stock options exercised |  |  |  |  |  |  |  |  |  |  | $ 100,000 | $ 100,000 |  |
Restricted stock units outstanding shares, Granted |  |  |  |  |  |  |  |  |  |  | 2,332,527 |  |  |
Exercise price per share, granted |  |  |  |  |  |  |  |  |  |  | $ 4.89 |  |  |
Risk-free interest rate |  |  | 3.74% |  |  |  |  |  |  |  | 4.20% | 3.90% |  |
Volatility |  |  | 81.93% |  |  |  |  |  |  |  | 80.50% | 82.70% |  |
Expected term |  |  | 5 years 6 months |  |  |  |  |  |  |  | 6 years | 6 years 1 month 6 days |  |
2024 Performance Option |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Risk-free interest rate |  |  |  |  |  |  |  | 4.26% |  |  |  |  |  |
Volatility |  |  |  |  |  |  |  | 76.82% |  |  |  |  |  |
Expected dividend yield |  |  |  |  |  |  |  | 0.00% |  |  |  |  |  |
Expected term |  |  |  |  |  |  |  | 6 years |  |  |  |  |  |
2024 PSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  |  |  |  | 3 years 9 months 18 days |  |  |  |  |  |
Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  |  |  |  |  |  |  | 4 years |  |  |
Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock option expiration period |  |  |  |  |  |  |  |  |  |  | 10 years |  |  |
2020 Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuances |  |  |  |  |  |  |  |  |  | 2,100,000 |  |  |  |
Maximum number of common shares issued |  |  |  |  |  |  |  |  |  | 8,800,000 |  |  |  |
Percentage of common shares increase automatically in each year |  |  |  |  |  |  |  |  |  | 4.00% |  |  |  |
Increase in Shares available for grant |  | 2,288,582 |  | 1,273,106 |  |  |  |  |  |  |  |  |  |
Number of shares available for future issuance |  |  |  |  |  |  |  |  |  |  | 696,925 |  |  |
2020 Plan | Subsequent Events |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Increase in Shares available for grant | 2,620,600 |  |  |  |  |  |  |  |  |  |  |  |  |
2020 Plan | Chief Executive Officer | 2024 Performance Option |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares granted |  |  |  |  |  |  |  | 550,000 |  |  |  |  |  |
Exercise price per share, granted |  |  |  |  |  |  |  | $ 6.07 |  |  |  |  |  |
2020 Plan | Executive Chair | 2024 PSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Restricted stock units outstanding shares, Granted |  |  |  |  |  |  |  | 385,000 |  |  |  |  |  |
Inducement Award Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuances |  |  |  |  |  |  |  |  | 2,763,002 |  |  |  | 2,413,002 | 2,763,002
Increase in Shares available for grant |  |  |  |  | 1,813,002 | 1,703,002 | 1,473,002 |  | 350,000 |  |  |  |  |
Number of shares available for future issuance |  |  |  |  |  |  |  |  |  |  | 863,000 |  |  |
Inducement Award Plan | Executives |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares granted |  |  |  |  |  |  |  |  |  |  | 0 | 630,000 |  |
2020 ESPP |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares granted |  |  |  |  |  |  |  |  |  |  | 1,000 |  |  |
Shares of common stock reserved for future issuances |  |  |  |  |  |  |  |  |  | 150,000 |  |  |  |
Maximum number of common shares issued |  | 286,072 |  | 159,138 |  |  |  |  |  | 987,500 |  |  |  |
Annual increase in number of shares available for issuance as percentage of outstanding shares common stock on final day of immediately preceding fiscal year |  |  |  |  |  |  |  |  |  | 0.50% |  |  |  |
Purchase price of shares as percentage lower of fair market value of common stock |  |  |  |  |  |  |  |  |  | 85.00% |  |  |  |
Shares available for issuance |  |  |  |  |  |  |  |  |  |  | 723,906 |  |  |
2020 ESPP | Subsequent Events |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum number of common shares issued | 262,594 |  |  |  |  |  |  |  |  |  |  |  |  |
Market-Based Condition Awards |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares granted |  |  |  |  |  |  |  |  |  |  | 1,648,002 |  |  |
Stock-based compensation expense |  |  |  |  |  |  |  |  |  |  | $ 1,000,000 |  |  |

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