Stock-Based Compensation - Shares Reserved for Issuance (Details) - shares |
Mar. 31, 2024 |
Dec. 31, 2023 |
|---|---|---|
| Equity [Abstract] | ||
| Stock options reserved for future grant (shares) | 7,435,442 | 7,054,222 |
| Common stock awards reserved for future issuance under the 2020 Employee Stock Purchase Plan | 2,859,434 | 2,859,434 |
| Stock options issued and outstanding (shares) | 5,217,617 | 4,760,366 |
| Restricted stock units issued and outstanding (unvested) under 2020 Equity Incentive Plan | 1,981,673 | 1,708,725 |
| Total shares of common stock reserved (shares) | 17,494,166 | 16,382,747 |