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Common stock, par value of $0.0001 per share; 150,000,000 shares authorized, and 48,966,216 and 48,688,875 shares issued and outstanding as of December 31, 2022 and 2021, respectively Common Stock, Value, Issued Written notice period for termination of agreement Notice Period For Termination Of Agreement Notice period for termination of agreement. Debt Instrument, Name Debt Instrument, Name [Domain] Granted (in dollars per share) Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value Net operating loss carryforwards limited and expire due to ownership changes Net Operating Loss Carryforwards, Limited And Expired Due To Ownership Changes Net operating loss carryforwards limited and expire due to ownership changes. 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Options, Additional Disclosures Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract] Options exercisable (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercisable, Number Marketable securities Fair Value Debt Securities, Available-for-Sale, Excluding Accrued Interest Income tax benefit computed at federal statutory tax rate Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent Transaction Price Unsatisfied Transaction Price Unsatisfied To Performance Obligation Transaction price unsatisfied to performance obligation. Lease contract term Lessee, Operating Lease, Term of Contract Issuance of common stock under the 2020 ESPP (in shares) Shares issued under employee stock purchase plan (in shares) Stock Issued During Period, Shares, Employee Stock Purchase Plans Options outstanding, beginning balance (in shares) Options outstanding, ending balance (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number Less: Unamortized debt issuance costs and debt discount Debt Instrument, Unamortized Discount (Premium) and Debt Issuance Costs, Net Cash and Cash Equivalents Cash and Cash Equivalents [Axis] Laboratory equipment Laboratory equipment Laboratory Equipment [Member] Laboratory equipment. Stock-based compensation Effective Income Tax Rate Reconciliation, Nondeductible Expense, Share-Based Payment Arrangement, Percent Accrued expenses and other current liabilities Accounts Payable, Accrued Liabilities, and Other Liabilities Disclosure, Current [Text Block] Credit Agreement with Perceptive Life Sciences Master Fund LTD Credit Agreement With Perceptive Life Sciences Master Fund L T D [Member] Credit agreement with Perceptive Life Sciences Master Fund LTD. Marketable securities in continuous unrealized loss position for less than 12 months, Number of securities Debt Securities, Available-for-Sale, Continuous Unrealized Loss Position, Less than 12 Months, Number of Positions Entity Incorporation, State or Country Code Entity Incorporation, State or Country Code State tax—net of federal Effective Income Tax Rate Reconciliation, State and Local Income Taxes, Percent Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] Basis of presentation Basis of Accounting, Policy [Policy Text Block] Property and equipment, net Total property and equipment, net Property, Plant and Equipment, Net Office equipment Office Equipment [Member] Exercise of stock options and release of stock units Stock Issued During Period, Value, Stock Options Exercised Forfeited (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeited in Period Total long-term debt—related party Long-Term Debt Term Loan Term Loan [Member] Term loan. Additional transaction price allocated to performance obligation Additional Transaction Price Allocated To Performance Obligation Additional transaction price allocated to performance obligation. Common stock, shares authorized Common Stock, Shares Authorized Total operating expenses Operating Expenses Maximum Maximum [Member] Accumulated other comprehensive loss Accumulated Other Comprehensive Income (Loss), Net of Tax Restricted cash Cash and Cash Equivalents, Restricted Cash and Cash Equivalents, Policy [Policy Text Block] Research extend term Research Extended Term Research extended term. Restricted cash Restricted Cash and Cash Equivalents, Noncurrent Cash and cash equivalents Cash and cash equivalents at end of the year Cash and Cash Equivalents, at Carrying Value Number of performance obligation Number Of Performance Obligation Number of performance obligation. 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