v3.26.1
Stock-Based Compensation - Additional Information (Details)
 3 Months Ended 6 Months Ended
Jun. 30, 2026
USD ($)
shares
Jun. 30, 2025
USD ($)
Jun. 30, 2026
USD ($)
Plan
$ / shares
shares
Jun. 30, 2025
USD ($)
$ / shares
Jan. 01, 2026
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of equity incentive plans | Plan     2    
Aggregate intrinsic value of outstanding options $ 33,100,000   $ 33,100,000    
Aggregate intrinsic value of exercisable options 12,900,000   $ 12,900,000    
Weighted-average grant date fair value of options granted | $ / shares     $ 2.27 $ 0.83  
Stock-based compensation expense 2,027,000 $ 3,814,000 $ 4,027,000 $ 7,646,000  
Stock Options          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock-based compensation expense 1,900,000 3,700,000 3,800,000 7,400,000  
Total unrecognized compensation expense related to unvested stock option awards 15,000,000   $ 15,000,000    
Total unrecognized compensation expense, weighted-average period     2 years 7 months 17 days    
Restricted Stock Units          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Award vesting period     4 years    
Stock-based compensation expense 53,000 65,000 $ 137,000 125,000  
Total unrecognized compensation expense, weighted-average period     3 years 7 months 6 days    
Share-based payment arrangement, nonvested award, unrecognized expense $ 702,000   $ 702,000    
2020 Equity Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares available for future grants | shares 6,753,174   6,753,174    
Share authorization terms of award     The number of shares of the Company’s common stock that may be issued pursuant to rights granted under the Plan shall automatically increase on January 1st of each year and continuing for ten years beginning on January 1, 2021, in an amount equal to five percent of the total number of shares of the Company’s common stock outstanding on December 31st of the preceding calendar year, subject to the discretion of the Company's board of directors or compensation committee to determine a lesser number of shares shall be added for such year. On January 1, 2026, 3,147,681 shares were added to the Plan.    
Award term     10 years    
Percentage of shares outstanding used to calculate annual increase in number of shares that can be issued     5.00%    
Number of shares authorized | shares         3,147,681
2020 Equity Incentive Plan | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Award vesting period     4 years    
2020 Equity Incentive Plan | Minimum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Award vesting period     1 year    
2020 Employee Stock Purchase Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares available for future grants | shares 2,887,029   2,887,029    
Share authorization terms of award     The number of shares of the Company’s common stock that may be issued pursuant to rights granted under the ESPP shall automatically increase on January 1st of each year and continuing for ten years beginning in 2021, in an amount equal to one percent of the total number of shares of all classes of the Company’s common stock outstanding on December 31st of the preceding calendar year, subject to the discretion of the Company's board of directors or compensation committee to determine a lesser number of shares shall be added for such year.    
Share increase term     10 years    
Percentage of shares outstanding used to calculate annual increase in number of shares that can be issued     1.00%    
Stock-based compensation expense $ 40,000 $ 35,000 $ 80,000 $ 75,000  
Common stock additional capital shares reserved for future issuance | shares         629,536
Eligible employees purchase common stock percentage of lower of fair market value     85.00%    
Participants accrue rights to purchase maximum common stock amount     $ 25,000    
Participants permitted purchase of maximum common stock during any one purchase period | shares     2,500    
2020 Employee Stock Purchase Plan | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Eligible employees contribution percentage     15.00%    
Vesting After One Year | Restricted Stock Units          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Percentage of stock options vested     25.00%    
Vesting After One Year | 2020 Equity Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Percentage of stock options vested     25.00%