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Shelf Registration and Sales Agreement [Member] Shelf Registration And Sales Agreement Debt Securities, Available-for-Sale Available for sale, fair value Total cash equivalents and available-for-sale securities Fair Value Other Liabilities, Noncurrent Other liabilities Other Liabilities, Noncurrent, Total Increase (Decrease) in Prepaid Expense and Other Assets Prepaid expenses and other current assets Restricted Stock Units (RSUs) [Member] RSU Fair Value, Inputs, Level 1 [Member] Level 1 Short-Term Debt [Member] Short Term Investments Eli Lilly and company. Eli Lilly And Company [Member] Eli Lilly and Company Fair Value Disclosures [Text Block] Fair Value Measurements Short term lease additional commitments. Short Term Lease Additional Commitments Short term lease additional commitments Accrued expenses and other current liabilities. Accrued Expenses and Other Current Liabilities Total accrued expenses and other current liabilities Accrued expenses and other current liabilities Accrued interest on investments Accrued Investment Income Receivable Accrued Investment Income Receivable, Total Non-cash lease expense Non Cash Lease Expense Amount of amortization expense for right-of-use asset from leases. Number of shares issuable upon exercise of warrants. Number Of Shares Issuable Upon Exercise Of Warrants Number of shares issuable upon the exercise of warrant Fair value, less than twelve months Debt Securities, Available-for-Sale, Continuous Unrealized Loss Position, Less than 12 Months Issuance of common stock and warrants, net of offering costs Stock Issued During Period Value Of Common Stock And Warrants Value of common stock and warrants issued. Subsequent Events [Text Block] Subsequent Events Research and Development [Abstract] Schedule of Stock by Class [Table] Schedule Of Stock By Class [Table] Liabilities fair value Liabilities, Fair Value Disclosure Liabilities, Fair Value Disclosure, Total Debt Instrument, Unamortized Discount Unamortized debt discount Debt Instrument, Unamortized Discount, Total Class of Stock [Line Items] Class Of Stock [Line Items] Assets, Current Total current assets Vesting [Domain] Liabilities and Equity Total liabilities and stockholders’ equity Entity Address, State or Province Entity Address, State or Province Organization and principal activities. Organization And Principal Activities [Table] Organization And Principal Activities [Table] Estimated fair value of warrant. 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Stock Options Available For Future Issuance [Member] Stock Options, Available for Future Issuance Long-Term Debt, Current Maturities Term loan, current portion Less: Term Loan, current portion Long-term Debt, Current Maturities, Total Pre-Funded Warrants Outstanding Pre-Funded Warrants Outstanding Pre - Funded warrants, outstanding Probable of Achievement Probable Of Achievement [Member] Probable of achievement member. Entity Address, City or Town Entity Address, City or Town Operating Lease, Weighted Average Discount Rate, Percent weighted-average discount rate Lessee, Operating Lease, Renewal Term Operating leases, renew lease term Debt Disclosure [Text Block] Term Loan Subsequent Event Subsequent Event [Member] Subsequent Event Type [Axis] Additional Paid-in Capital [Member] Additional Paid-In Capital Liabilities, Current [Abstract] Current liabilities: Number of monthly installments. Number Of Monthly Installments Number of Monthly Installments Fair value, twelve months or greater Debt Securities, Available-for-Sale, Continuous Unrealized Loss Position, 12 Months or Longer Assets, Current [Abstract] Current assets: Counterparty Name [Axis] Preferred Stock, Par or Stated Value Per Share Preferred Stock, Par Value Statement of Stockholders' Equity [Abstract] Debt Instrument, Maturity Date Debt instrument, maturity date Long-Term Debt Aggregate principal amount Total Loss on disposal of property and equipment Loss on Disposal of Property and Equipment Loss on disposal of property and equipment Collaborative Arrangement and Arrangement Other than Collaborative [Axis] Collaborative Arrangement and Arrangement Other than Collaborative Risks and uncertainties.. Risks And Uncertainties Policy [Text Block] Risks and Uncertainties Entity Central Index Key Entity Central Index Key Number of warrants issued Class of Warrant or Right, Number of Securities Called by Warrants or Rights Exercise of pre-funded warrants, Shares Restricted cash, long-term (included in other assets) Restricted Cash, Noncurrent Restricted cash Increase (Decrease) in Other Operating Assets Other assets Increase (Decrease) in Other Operating Assets, Total Lessee, Operating Lease, Option to Extend Operating Leases, option to renew lease term description Preferred Stock, Shares Outstanding Preferred stock, shares outstanding Preferred Stock, Shares Outstanding, Beginning Balance Preferred Stock, Shares Outstanding, Ending Balance Money Market Fund Member. Money Market Fund [Member] Money Market Funds Liabilities, Current Total current liabilities Entity Tax Identification Number Entity Tax Identification Number Legal Fees Legal fees Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table] Schedule Of Antidilutive Securities Excluded From Computation Of Earnings Per Share [Table] Increase (Decrease) in Operating Capital [Abstract] Changes in operating assets and liabilities: Financial Instruments [Domain] Financial Instruments Weighted Average Number of Shares Outstanding Reconciliation [Abstract] Denominator: Stock Issued During Period, Value, Employee Stock Purchase Plan Issuance of common stock related to employee stock purchase plan Total interest under term loan. Debt Interest Less: interest Less: interest Award Type [Axis] Award Type Lessee, Operating Leases [Text Block] Leases Geographical [Domain] Assets Total assets Clinical Development Milestones Clinical Development Milestones [Member] Clinical development milestones member. Entity Registrant Name Entity Registrant Name Lessee, Operating Lease, Existence of Option to Extend [true false] Operating Leases, option to renew lease term Lessee, Lease, Description [Line Items] Retained Earnings (Accumulated Deficit) Accumulated deficit Retained Earnings (Accumulated Deficit), Total Retained Earnings (Accumulated Deficit), Beginning Balance Retained Earnings (Accumulated Deficit), Ending Balance Gross unrealized losses, less than twelve months Gross unrealized losses, less than twelve months Debt Securities, Available-for-Sale, Continuous Unrealized Loss Position, Less than 12 Months, Accumulated Loss Proceeds from Stock Plans Proceeds from issuance of common stock related to employee stock purchase plan Retained Earnings [Member] Accumulated Deficit Lease liabilities, net of current portion Lease Liability Noncurrent Present value of lessee's discounted obligation for lease payments from leases, classified as noncurrent. Stock Issued During Period, Shares, Employee Stock Purchase Plans Issuance of common stock related to employee stock purchase plan, Shares ESPP issued Minimum [Member] Minimum Short-Term Lease Commitment, Amount Short-term lease gross commitments Collaboration revenue Revenues Revenues, Total Proceeds from exercise of common stock options Proceeds from Stock Options Exercised Significant Accounting Policies [Text Block] Summary of Significant Accounting Policies Number of RSUs outstanding Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Outstanding, Number Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Outstanding, Number, Ending Balance Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Outstanding, Number, Beginning Balance Operating Lease, Liability, Total Operating Lease, Liability Total operating lease liability Revenue Recognition Revenue [Policy Text Block] US government Agency Securities US Government Agencies Debt Securities [Member] Equity Component [Domain] Equity Component Employee Stock Option Employee Stock Option [Member] Stock Options, Issued and Outstanding Adjustments to Reconcile Net Income (Loss) to Cash Provided by (Used in) Operating Activities [Abstract] Adjustments to reconcile net loss to net cash used in operating activities: First tranche term loan. First Tranche Term Loan [Member] First Tranche Term Loan Debt Instrument, Unamortized Discount (Premium) and Debt Issuance Costs, Net Debt Instrument, Unamortized Discount (Premium) and Debt Issuance Costs, Net, Total Less: unamortized debt issuance costs Less: unamortized debt issuance costs Measurement Frequency [Axis] Measurement Frequency Debt Disclosure [Abstract] Entity Current Reporting Status Entity Current Reporting Status Common Stock, Shares Authorized Common stock, shares authorized Common stock shares authorized Common stock purchasable under warrants Common Stock Purchasable Under Warrants Common stock purchasable under warrants. Research and Development Expense Research and development Research and Development Expense, Total Assets [Abstract] ASSETS Common stock, $0.0001 par value; 200,000,000 shares authorized as of September 30, 2023 and December 31, 2022; 40,710,692 and 23,601,004 shares issued and outstanding as of September 30, 2023 and December 31, 2022, respectively Common Stock, Value, Issued Common Stock, Value, Issued, Total Common Stock, Value, Issued, Beginning Balance Common Stock, Value, Issued, Ending Balance Repayment of term loan Repayments of Long-Term Debt Repayments of Long-term Debt, Total Registration Payment Arrangement by Arrangement [Axis] Maximum amount of sale cCovered in shelf registration statement. Maximum Amount Of Sale Covered In Shelf Registration Statement Maximum amount of sale covered in shelf registration statement Current Fiscal Year End Date Current Fiscal Year End Date Share-Based Payment Arrangement, Noncash Expense Stock-based compensation expense Share-based Payment Arrangement, Noncash Expense, Total Loss from operations Operating Income (Loss) Loss from operations Repayments of Debt Repayment of outstanding obligations Debt Securities, Available-for-Sale, Realized Gain (Loss) Debt securities, available-for-sale, realized gain (loss) Debt Securities, Available-for-sale, Realized Gain (Loss), Total Entity Ex Transition Period Entity Ex Transition Period Debt Issuance Costs, Gross Debt issuance costs Additional milestone payment Additional Milestone Payment Additional milestone payment Research and Development Expense [Member] Research and Development 2026 Long-Term Debt, Maturity, Year Four Kaken License Agreement Kaken License Agreement [Member] Kaken License Agreement Accrued general and administrative expenses. Accrued General And Administrative Expenses Accrued general and administrative expenses Share-Based Payment Arrangement, Expense Total stock-based compensation expense Stock-based compensation expense Payment, Tax Withholding, Share-Based Payment Arrangement Tax withholding payments on restricted stock units Tax withholding payments on restricted stock units Deferred revenue Deferred Revenue Deferred Revenue, Total Other comprehensive gain (loss), net of tax: Other Comprehensive Income (Loss), Net of Tax [Abstract] Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents [Abstract] Reconciliation of cash, cash equivalents, and restricted cash Debt instrument frequency of periodic payment scenario one. Debt Instrument Frequency Of Periodic Payment Scenario One Floating interest rate scenario one Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table] Schedule Of Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Table] Second tranche term loan. Second Tranche Term Loan [Member] Second Tranche Term Loan Operating Expenses [Abstract] Operating expenses: Depreciation, Depletion and Amortization, Nonproduction, Total Depreciation, Depletion and Amortization, Nonproduction Depreciation and amortization First Amendment To Loan And Security Agreement [Member] First Amendment To Loan And Security Agreement [Member] The First Amendment Aggregate license agreement amount. Aggregate License Agreement Amount Aggregate license agreement amount Subsequent Events [Abstract] Commitments and Contingencies Disclosure [Abstract] Other Assets, Noncurrent Other assets Other Assets, Noncurrent, Total Potential Additional Payment Potential Additional Payment Potential milestone payments payable. The Second Amendment Second Amendment To Loan And Security Agreement [Member] Second amendment to loan and security agreement member. Common Stock and Warrant Net Offering Costs Common stock and warrant net offering costs. Offering costs Equity [Text Block] Capital Structure Gross Unrealized Gains Debt Securities, Available-for-Sale, Accumulated Gross Unrealized Gain, before Tax Equity, Attributable to Parent [Abstract] Stockholders’ equity: 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] Shares subject to outstanding common stock options Shares subject to outstanding common stock options. Shares Subject To Outstanding Common Stock Options [Member] Outstanding interest rate Long-Term Debt, Average Amount Outstanding Entity [Domain] Entity Earnings Per Share [Abstract] Upfront payments Upfront Payments Upfront payments Dividends, Common Stock Common stock dividends declared Dividends, Common Stock, Total Accounting Policies [Abstract] Common Stock warrants, issued and outstanding Common Stock Warrants [Member] Common Stock Warrants [Member] Concentration Risk, Credit Risk, Policy [Policy Text Block] Concentration of Credit Risk Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] Share Based Compensation Arrangement By Share Based Payment Award [Line Items] Net loss per share, basic Earnings Per Share, Basic, Total Net loss per share, basic Commitments and contingencies Commitments and Contingencies Income Statement [Abstract] Amount of debt available under the first tranche. Debt Available First Tranche Amount of debt available under the first tranche Operating Lease, Cost Operating leases, lease expense Short-Term Lease, Cost Short-term lease expense Shares available for future issuance under two thousand and twenty equity incentive plan. Shares Available For Future Issuance Under Two Thousand And Twenty Equity Incentive Plan [Member] Shares available for future issuance under 2020 Equity Incentive Plan Statistical Measurement [Domain] Statistical Measurement Net Cash Provided by (Used in) Operating Activities Net cash used in operating activities All Award Types Award Type Document Period End Date Document Period End Date Statistical Measurement [Axis] Statistical Measurement Commitments and Contingencies Disclosure [Text Block] Commitments and Contingencies Operating Lease, Payments Cash paid for amounts included in measurement of lease liabilities Net loss per share, diluted Earnings Per Share, Diluted, Total Net loss per share, diluted Shares Subject to Outstanding Standard Warrants Shares Subject to Outstanding Standard Warrants [Member] Shares subject to outstanding Standard Warrants. Debt Instrument, Name [Domain] Debt Instrument, Name Schedule of common stock shares reserved for future issuance. Schedule Of Common Stock Shares Reserved For Future Issuance Table [TextBlock] Schedule of common stock shares reserved for future issuance Fair Value Hierarchy and NAV [Domain] Fair Value Hierarchy and NAV Fair Value, Recurring [Member] Fair Value Recurring Operatingleaseterminationmonthandyear Operating Lease Termination Month And Year Operating lease termination date Additional Paid in Capital, Common Stock Additional paid-in capital Additional Paid in Capital, Common Stock, Beginning Balance Additional Paid in Capital, Common Stock, Ending Balance Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents, Period Increase (Decrease), Excluding Exchange Rate Effect Net increase in cash, cash equivalents, and restricted cash Schedule of Maturities of Long-Term Debt [Table Text Block] Schedule of Future Principal Payments Cash, Cash Equivalents, and Short-Term Investments, Total Cash, Cash Equivalents, and Short-Term Investments Cash, cash equivalents, and short-term investments Lessee operating lease extended term of contract. Lessee Operating Lease Extended Term Of Contract Short-term lease extended term Exercise of common stock options, Shares Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period Exercised, Outstanding Stock Options Liabilities and Equity [Abstract] LIABILITIES AND STOCKHOLDERS’ EQUITY Entity Address, Postal Zip Code Entity Address, Postal Zip Code Entity Interactive Data Current Entity Interactive Data Current Private Placement [Member] Private Placement [Member] Accounts payable Increase (Decrease) in Accounts Payable Increase (Decrease) in Accounts Payable, Total Debt Securities, Available-for-Sale, Unrealized Loss Position, Fair Value [Table Text Block] Summary of Investments in an Unrealized Loss Position Text Block [Abstract] Equity [Abstract] Emerging growth company policy. Emerging Growth Company Policy Policy [Text Block] Emerging Growth Company Status Allowance for credit losses Debt Securities, Available-for-Sale, Allowance for Credit Loss Debt Securities, Available-for-Sale, Allowance for Credit Loss, Ending Balance Debt Securities, Available-for-Sale, Allowance for Credit Loss, Beginning Balance Debt Securities, Available-for-Sale, Allowance for Credit Loss, Total Entity Incorporation, State or Country Code Entity Incorporation, State or Country Code Equity Components [Axis] Equity Components Registration Payment Arrangement, Maximum Potential Consideration Maximum amount of offering issuance and sale covered in sales agreement Increase (Decrease) in Other Operating Liabilities Other liabilities Increase (Decrease) in Other Operating Liabilities, Total Proceeds from Sale, Maturity and Collection of Investments, Total Proceeds from Sale, Maturity and Collection of Investments Proceeds from maturities of investments Debt instrument prepayment fee percentage. Debt Instrument Prepayment Fee Percentage Debt instrument prepayment fee percentage Local Phone Number Local Phone Number Sale of Stock [Axis] Sale of Stock End of term payment, percentage. End Of Term Payment Percentage End of term payment, percentage Floating interest scenario one Debt Instrument Interest Rate Percentage Scenario One Debt Instrument Interest Rate Percentage Scenario One Deferred revenue Increase (Decrease) in Deferred Revenue Present value of lessee's discounted obligation for lease payments from leases, classified as current. Lease liabilities, current portion Lease Liability Current Floating interest scenario two Debt Instrument Interest Rate Percentage Scenario Two Debt Instrument Interest Rate Percentage Scenario Two Common stock purchasable under prefunded warrants Common Stock Purchasable Under Prefunded Warrants Common stock purchasable under prefunded warrants. Statement of Cash Flows [Abstract] Accrued research and development expenses. Accrued Research And Development Expenses Accrued research and development expenses Organization, Consolidation and Presentation of Financial Statements [Abstract] Accumulated Other Comprehensive Income (Loss), Net of Tax Accumulated other comprehensive loss Accumulated Other Comprehensive Income (Loss), Net of Tax, Total Short-Term Debt , Corporate Bond Securities Member. Short-Term Debt , Corporate Bond Securities [Member] Short-Term Investments , Corporate Bond Securities Common Stock, Par or Stated Value Per Share Common stock, par value Common stock par value per share Interest rate of term loan Debt Instrument, Interest Rate, Stated Percentage Schedule of Share-Based Compensation Arrangements by Share-Based Payment Award [Table] Schedule Of Share Based Compensation Arrangements By Share Based Payment Award [Table] Collaboration and License Agreements Collaborative Arrangement Disclosure [Text Block] Maximum [Member] Maximum Total gross proceeds Proceeds from Issuance of Private Placement Operating lease commencement date. Operating Lease Commencement Month And Year Operating lease commencement date South San Francisco, California South San Francisco, California [Member] South San Francisco, California. Organization, Consolidation and Presentation of Financial Statements Disclosure [Text Block] Organization and Principal Activities Standard Warrants Standard Warrants [Member] Standard warrants. Fair Value, Inputs, Level 3 [Member] Level 3 APIC, Share-Based Payment Arrangement, Increase for Cost Recognition Stock-based compensation APIC, Share-based Payment Arrangement, Increase for Cost Recognition, Total Fair Value, Recurring and Nonrecurring [Table] Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Table] Shares Subject To Outstanding RSUs Shares subject to outstanding restricted stock units. Shares Subject to Outstanding Restricted Stock Units [Member] Balance Sheet Components Disclosure Balance Sheet Components Disclosure [Text Block] Balance Sheet Components General and Administrative Expense [Member] General and Administrative Issuance of common stock and warrants, net of offering costs, shares Stock Issued During Period Shares Of Common Stock And Warrants Number of shares Issued for common stock and warrants. Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block] Schedule of Potentially Dilutive Securities not Included in Calculation of Diluted Per Share City Area Code City Area Code Research and Development Arrangement, Contract to Perform for Others, Type [Axis] Operating activities Net Cash Provided by (Used in) Operating Activities [Abstract] Common Stock, Voting Rights Common stockholders voting rights General and Administrative Expense General and administrative General and Administrative Expense, Total Debt Securities, Available-for-Sale, Realized Gain (Loss), Excluding Other-than-temporary Impairment Debt securities, available-for-sale, realized gain (loss), excluding other-than-temporary impairment Debt Securities, Available-for-sale, Realized Gain (Loss), Excluding Other-than-temporary Impairment, Total Weighted-average shares of Common Stock outstanding, basic Weighted-average shares of common stock outstanding, basic Weighted Average Number of Shares Outstanding, Basic, Total Research and Development Arrangement, Contract to Perform for Others, Type [Domain] Shares available for future issuance under 2020 Employee Stock Purchase Plan Employee Stock [Member] Financing activities Net Cash Provided by (Used in) Financing Activities [Abstract] Restricted and performance stock units, issued and outstanding. Restricted and Performance Stock Units, Issued and Outstanding [Member] Restricted and performance stock units, issued and outstanding Statement [Table] Statement [Table] Document Fiscal Period Focus Document Fiscal Period Focus Amount of total debt available. Debt Total Available Amount of total debt available Investments Investment, Policy [Policy Text Block] Statement [Line Items] Statement [Line Items] Debt instrument unamortized debt issuance costs and discount. Debt Instrument Unamortized Debt Issuance Costs And Discount Unamortized debt issuance costs and debt discount Term loan. Term Loan [Member] Term Loan US government Treasury Securities Us Government Treasury Security [Member] Us government treasury security. Debt Instrument, Fair Value Disclosure Estimated fair value of term loan Debt Instrument, Fair Value Disclosure, Total Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount Potential dilutive securities excluded from diluted net loss per share Standard Warrants Warrant [Member] Warrant Research and development arrangement, costs incurred Research and Development Arrangement, Contract to Perform for Others, Costs Incurred, Gross Common Stock [Member] Common Stock Debt Instrument [Line Items] Debt Instrument [Line Items] Schedule of accrued expenses and other current liabilities. Schedule of Accrued Expenses and Other Current Liabilities [Table Text Block] Schedule of Accrued Expenses and Other Current Liabilities Cash and Cash Equivalents, at Carrying Value Cash and cash equivalents Cash and cash equivalents Cash and Cash Equivalents, at Carrying Value, Total Cash and Cash Equivalents, at Carrying Value, Beginning Balance Cash and Cash Equivalents, at Carrying Value, Ending Balance Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] Summary of Stock-Based Compensation Expense Other Assets, Current Other current assets Cash and Cash Equivalent Member. Cash and Cash Equivalent [Member] Cash and Cash Equivalents Net amortization (accretion) of premium/discount on available-for-sale securities Accretion (Amortization) of Discounts and Premiums, Investments Prepaid expenses Prepaid Expense, Current Prepaid Expense, Current, Total Entity Common Stock, Shares Outstanding Entity Common Stock, Shares Outstanding Antidilutive Securities, Name [Domain] Antidilutive Securities, Name Jefferies LLC Jefferies LLC. Jefferies LLC [Member] Registration Payment Arrangement, Arrangement [Domain] Schedule of Debt [Table Text Block] Schedule of Term Loan Cover [Abstract] Vesting [Axis] Document Fiscal Year Focus Document Fiscal Year Focus Lilly License Agreement Lilly License Agreement [Member] Lilly license agreement member. Sale of Stock [Domain] Sale of Stock Security Exchange Name Security Exchange Name Recently Adopted Accounting Pronouncements New Accounting Pronouncements, Policy [Policy Text Block] Preferred Stock, Shares Issued Preferred stock, shares issued Preferred Stock, Shares Issued, Total Preferred Stock, Shares Authorized Preferred stock, shares authorized Outstanding principal term loan Debt Principal Outstanding Debt principal outstanding. Pre Funded Warrants Pre-Funded Warrants [Member] Pre-Funded Warrants [Member] Legal Entity [Axis] Legal Entity Financial Instrument [Axis] Financial Instrument Accrued Employee Benefits, Current Accrued compensation and benefits Exercise of common stock options Stock Issued During Period, Value, Stock Options Exercised Entity Emerging Growth Company Entity Emerging Growth Company Amendment Flag Amendment Flag Common Stock Shares Exercised Under Prefunded Warrants Common Stock Shares Exercised Under Prefunded Warrants Common stock shares exercised under prefunded warrants Gross Unrealized Losses Debt Securities, Available-for-Sale, Accumulated Gross Unrealized Loss, before Tax Basis of Presentation Basis of Accounting, Policy [Policy Text Block] Leases [Abstract] Variable Rate [Domain] Variable Rate Number of pre-funded warrants exercised. Exercise of Pre-funded Warrants, Shares Exercise of pre-funded warrants, Shares Fair value, total Fair value, total Debt Securities, Available-for-Sale, Unrealized Loss Position Securities Act File Number Entity File Number Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] Long-Term Debt, Excluding Current Maturities Term loan, net of current portion Long-term Debt, Excluding Current Maturities, Total Unrealized gain (loss) on available for sale securities Unrealized gain (loss) on available for sale securities OCI, Debt Securities, Available-for-Sale, Unrealized Holding Gain (Loss), before Adjustment, after Tax Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents Total cash, cash equivalents and restricted cash Cash, cash equivalents, and restricted cash at beginning of period Cash, cash equivalents, and restricted cash at end of period Balance Sheet Related Disclosures [Abstract] Upfront payment received Upfront Payment Received Upfront payment received. Share-Based Payment Arrangement [Abstract] Estimated shares issuable under the 2020 Employee Stock Purchase Plan Estimated shares issuable under the employee stock purchase plan. Estimated Shares Issuable Under Employee Stock Purchase Plan [Member] Debt instrument frequency of periodic payment scenario two. Debt Instrument Frequency Of Periodic Payment Scenario Two Debt instrument basis spread variable rate scenario two Accounts Payable, Current Accounts payable Accounts Payable, Current, Total Debt Instrument [Axis] Debt Instrument Operating Expenses Total operating expenses 2023 (remaining 3 months) Long-Term Debt, Maturity, Year One Entity Address, Address Line Two Entity Address, Address Line Two Preferred stock, $0.0001 par value; 10,000,000 shares authorized and no shares issued or outstanding as of Septmber 30, 2023 and December 31, 2022 Preferred Stock, Value, Issued Preferred Stock, Value, Issued, Total Preferred Stock, Value, Issued, Beginning Balance Preferred Stock, Value, Issued, Ending Balance Entity Small Business Entity Small Business Entity Shell Company Entity Shell Company Class of Warrant or Right, Exercise Price of Warrants or Rights Warrants exercise price Payments to Acquire Investments Purchase of investments Payments to Acquire Investments, Total Class of Warrant or Right [Domain] Issuance of common stock related to vesting of restricted stock units, net of tax withholdings, shares Restricted Stock, Shares Issued Net of Shares for Tax Withholdings Earnings Per Share [Text Block] Net Loss Per Share Weighted-average remaining contractual term maturities available for sale. Weighted Average Remaining Contractual Term Maturities Available For Sale Weighted-average remaining contractual term maturities available for sale Entity Address, Address Line One Entity Address, Address Line One Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] Antidilutive Securities [Axis] Antidilutive Securities Common stock capital shares reserved for future issuance. Common Stock Capital Shares Reserved For Future Issuance Table [Text Block] Summary of Common Stock Reserved for Future Issuance Supplemental Balance Sheet Disclosures [Text Block] Balance Sheet Components Share Based Compensation Award Tranche Four Share Based Compensation Award Tranche Four [Member] Share Based Compensation Award Tranche Four [Member] Weighted Average Grant Date Fair Value Per Share Share-Based Compensation Arrangement by Share-Based Payment Award, Option, Nonvested, Weighted Average Exercise Price Share-Based Compensation Arrangement by Share-Based Payment Award, Option, Nonvested, Weighted Average Exercise Price, Ending Balance Share-Based Compensation Arrangement by Share-Based Payment Award, Option, Nonvested, Weighted Average Exercise Price, Beginning Balance Proceeds from issuance of common stock and warrants Proceeds from Issuance of Common Stock and Warrants The cash inflow from the issuance of common stock and warrants. Subsequent Event Type [Domain] Adjustments to Additional Paid in Capital, Stock Issued, Issuance Costs Offering costs from issuance of common stock Income Statement Location [Axis] Income Statement Location 2025 Long-Term Debt, Maturity, Year Three Issuance of common stock related to vesting of restricted stock units, net of tax withholdings Restricted Stock, Value, Shares Issued Net of Tax Withholdings Net Income (Loss), Including Portion Attributable to Noncontrolling Interest Net loss Net Income (Loss), Including Portion Attributable to Noncontrolling Interest, Total Fair Value, Nonrecurring [Member] Fair Value Non-recurring Debt Instrument, Frequency of Periodic Payment Debt Instrument Frequency Of Periodic Payment Fair Value, Inputs, Level 2 [Member] Level 2 Value of pre-funded warrants exercised. Exercise of Pre-funded Warrants Exercise of pre-funded warrants Carrying value of the Term Loan Long-Term Debt, Gross Term Loan, gross Title of 12(b) Security Title of 12(b) Security Liquidity covenant amount Debt Instrument, Covenant Description Prime Rate [Member] Prime Rate Fair Value, Assets Measured on Recurring Basis [Table Text Block] Summary of Financial Assets Measured at Fair Value on Recurring Basis Investing activities Net Cash Provided by (Used in) Investing Activities [Abstract] Area of office space Land Subject to Ground Leases Debt instrument, extended term. Debt Instrument Extended Term Debt instrument, extended term Cash equivalents and short term investments due term. Cash Equivalents And Short Term Investments Due Term Cash equivalents and short term investments due term Interest Expense, Debt Interest payments on debt Interest Expense, Debt, Total Gross unrealized losses, total Debt Securities, Available-for-Sale, Unrealized Loss Position, Accumulated Loss Debt Securities, Available-for-Sale, Unrealized Loss Position, Accumulated Loss, Total Silicon valley bank. Silicon Valley Bank [Member] Silicon Valley Bank Common Stock, Shares, Outstanding Balance, Shares Balance, Shares Common stock, shares outstanding Stock-Based Compensation Expense Share-Based Payment Arrangement [Text Block] Proceeds from Warrant Exercises Proceeds from exercise of pre-funded warrants Amount of lessee's right to use underlying asset under leases. Right-of-use assets Lease Right of Use Asset Unamortized Debt Issuance Expense Unamortized debt discount and issuance costs Lessee operating lease termination date. Lessee Operating Lease Termination Date Short term lease terminated Income Statement Location [Domain] Income Statement Location Document Type Document Type Stock Issued During Period, Shares, Conversion of Convertible Securities Net exercised of common stock Collaboration and License Agreement, Kaken Pharmaceutical Co. LTD Collaboration and License Agreement, Kaken Pharmaceutical Co. LTD. [Member] Collaboration and license agreement with Kaken Pharmaceutical Co. LTD. Commitments Line of Credit Facility, Current Borrowing Capacity Net Cash Provided by (Used in) Investing Activities Net cash provided by investing activities Document Quarterly Report Document Quarterly Report Amount of debt available under the second tranche. Debt Available Second Tranche Amount of debt available under the second tranche Counterparty Name [Domain] Organization and principal activities. 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Additional Aggregate License Agreement Amount Additional aggregate license agreement amount Amortized Cost Debt Securities, Available-for-Sale, Amortized Cost Cash equivalents and investments securities, Amortized Cost Amortized Cost Operating Lease, Weighted Average Remaining Lease Term Weighted-average remaining lease term for operating leases Use of Estimates, Policy [Policy Text Block] Use of Estimates Income Tax Disclosure [Text Block] Income Taxes Interest and Other Income Interest and other income, net End of term payment, amount. End Of Term Payment Amount End of term payment, amount Schedule of Earnings Per Share, Basic and Diluted [Table Text Block] Schedule of Computation of Basic and Diluted Net Loss Per Share Gross unrealized losses, twelve months or greater Gross unrealized losses, twelve months or greater Debt Securities, Available-for-Sale, Continuous Unrealized Loss Position, 12 Months or Longer, Accumulated Loss Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] Fair Value Disclosures [Abstract] Fair Value Hierarchy and NAV [Axis] Fair Value Hierarchy and NAV Measurement Frequency [Domain] Measurement Frequency Payments to Acquire Property, Plant, and Equipment, Total Payments to Acquire Property, Plant, and Equipment Purchases of property and equipment Debt instrument basis spread variable rate scenario two. 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