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[Abstract] Year-end Fair Value of Equity Awards Granted in Covered Year that are Outstanding and Unvested Year-end Fair Value of Equity Awards Granted in Covered Year that are Outstanding and Unvested [Member] Preferred stock, $0.0001 par value; 10,000,000 shares authorized and no shares issued or outstanding as of June 30, 2024 and December 31, 2023 Preferred Stock, Value, Issued Share-based payment arrangement Share-Based Payment Arrangement [Member] Potential shares issuable under the 2020 ESPP Employee Stock [Member] Net loss per share attributable to common stockholders, basic (in dollars per share) Earnings Per Share, Basic Accounts payable Increase (Decrease) in Accounts Payable Proceeds from stock offerings, net of issuance costs Proceeds from Issuance of Common Stock Adjustment To PEO Compensation, Footnote Adjustment To PEO Compensation, Footnote [Text Block] Award Timing MNPI Disclosure Award Timing MNPI Disclosure [Text Block] Aggregate Pension Adjustments Service Cost Aggregate Pension Adjustments Service Cost [Member] Compensation Actually Paid vs. Other Measure Compensation Actually Paid vs. Other Measure [Text Block] Total current liabilities Liabilities, Current Vesting Date Fair Value of Equity Awards Granted and Vested in Covered Year Vesting Date Fair Value of Equity Awards Granted and Vested in Covered Year [Member] Unrecognized compensation expense related to unvested stock based awards Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount Total assets Assets Cash equivalents and debt securities, available-for-sale, accumulated gross unrealized gain, current, before tax Cash Equivalents And Debt Securities, Available-For-Sale, Accumulated Gross Unrealized Gain, Current, Before Tax Cash Equivalents And Debt Securities, Available-For-Sale, Accumulated Gross Unrealized Gain, Current, Before Tax Over-Allotment Option Over-Allotment Option [Member] Summary of Financial Assets Measured At Fair Value On A Recurring Basis Fair Value, Assets Measured on Recurring Basis [Table Text Block] Forgone Recovery due to Violation of Home Country Law, Amount Forgone Recovery due to Violation of Home Country Law, Amount Commitments and contingencies (Note 6) Commitments and Contingencies 2020 Employee Stock Incentive Plan 2020 Employee Stock Incentive Plan [Member] 2020 Employee Stock Incentive Plan Termination Date Trading Arrangement Termination Date Class of Warrant or Right [Domain] Class of Warrant or Right [Domain] Nature of the Business Nature of Operations [Text Block] Warrants (in dollars per share) Class of Warrant or Right, Exercise Price of Warrants or Rights Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] Collaboration revenue Revenues Stock-Based Compensation Share-Based Payment Arrangement [Text Block] Shares reserved for future awards under the 2020 Employee Stock Purchase Plan 2020 Employee Stock Purchase Plan 2020 Employee Stock Purchase Plan [Member] Entity Address, City or Town Entity Address, City or Town After one year through five years Debt Securities, Available-for-Sale, Fair Value, Maturity, Allocated and Single Maturity Date, after Year One Through Five Summary of Stock Option Activity Share-Based Payment Arrangement, Option, Activity [Table Text Block] Aggregate intrinsic value exercised Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value Total stock-based compensation expense Share-Based Payment Arrangement, Expense Net loss Net loss Net loss Net loss Net Income (Loss) Attributable to Parent Trading Arrangement: Trading Arrangement [Axis] Investments, Debt and Equity Securities [Abstract] Granted (in dollars per share) Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price Pay vs Performance Disclosure, Table Pay vs Performance [Table Text Block] Forfeited (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeited in Period Loss Contingencies [Table] Loss Contingencies [Table] Equity Awards Adjustments, Excluding Value Reported in Compensation Table Equity Awards Adjustments, Excluding Value Reported in the Compensation Table [Member] Dividends or Other Earnings Paid on Equity Awards not Otherwise Reflected in Total Compensation for Covered Year Dividends or Other Earnings Paid on Equity Awards not Otherwise Reflected in Total Compensation for Covered Year [Member] Entity File Number Entity File Number 2017 Stock Incentive Plan 2017 Employee Stock Incentive Plan [Member] Document Fiscal Year Focus Document Fiscal Year Focus Income Statement [Abstract] Income Statement [Abstract] Entity Address, Address Line One Entity Address, Address Line One Entity Address, Address Line Two Entity Address, Address Line Two Accrued other expenses Other Accrued Liabilities, Current Assets Assets, Fair Value Disclosure Name Forgone Recovery, Individual Name Aggregate intrinsic value exercisable Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercisable, Intrinsic Value Document Period End Date Document Period End Date Sale of Stock [Axis] Sale of Stock [Axis] Award Timing MNPI Considered Award Timing MNPI Considered [Flag] Beginning balance (in shares) Ending balance (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number Asset Class [Axis] Asset Class [Axis] Insider Trading Arrangements [Line Items] Outstanding Aggregate Erroneous Compensation Amount Outstanding Aggregate Erroneous Compensation Amount PEO Actually Paid Compensation Amount PEO Actually Paid Compensation Amount Cash equivalents and debt securities, available-for-sale, fair value disclosure Cash Equivalents And Debt Securities, Available-for-Sale, Fair Value Disclosure Cash Equivalents And Debt Securities, Available-for-Sale, Fair Value Disclosure Adjustment to Compensation: Adjustment to Compensation [Axis] Prepaid expenses and other current assets Prepaid Expense and Other Assets, Current Document Transition Report Document Transition Report Document Quarterly Report Document Quarterly Report Fair Value, Recurring and Nonrecurring [Table] Fair Value, Recurring and Nonrecurring [Table] Accumulated other comprehensive loss Accumulated Other Comprehensive Income (Loss), Net of Tax Entity Current Reporting Status Entity Current Reporting Status Accumulated Deficit Retained Earnings [Member] Number of cohorts Number Of Cohorts Number Of Cohorts Pension Adjustments Service Cost Pension Adjustments Service Cost [Member] Weighted average common shares outstanding, basic (in shares) Weighted Average Number of Shares Outstanding, Basic Stock Price or TSR Estimation Method Stock Price or TSR Estimation Method [Text Block] Increase (Decrease) in Stockholders' Equity [Roll Forward] Increase (Decrease) in Stockholders' Equity [Roll Forward] Executive Category: Executive Category [Axis] Name Awards Close in Time to MNPI Disclosures, Individual Name Maximum percentage of voting power Percentage of Ownership Held by Sole Owner Percentage of Ownership Held by Sole Owner Canceled or forfeited (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Forfeitures in Period Entity Filer Category Entity Filer Category Transaction price Revenue, Remaining Performance Obligation, Amount Income Statement Location [Domain] Statement of Income Location, Balance [Domain] Purchases of marketable securities Payments to Acquire Debt Securities, Available-for-Sale Loss Contingencies [Line Items] Loss Contingencies [Line Items] Company Selected Measure Name Company Selected Measure Name