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Common Stock - Schedule of Shares Reserved for Future Issuance (Details) - shares
Mar. 31, 2024
Dec. 31, 2023
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 15,742,708 12,544,982
Shares of common stock available for future grants under the 2020 Stock Option and Incentive Plan    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 4,562,694 2,882,239
Shares of common stock available for future issuance under the 2020 Employee Stock Purchase Plan    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 1,336,085 805,756
Shares of common stock available for future issuance under the 2022 Inducement Plan    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 700,000 700,000
Outstanding stock option awards    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 7,659,860 6,953,487
Vesting of RSUs    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 1,201,724 874,748
Vesting of PSUs*    
Class of Stock [Line Items]    
Total shares reserved for future issuance (in shares) 282,345 328,752