In a large pot, brown the ground beef over medium heat. Add the garlic and continue to cook until fragrant, about 1 minute. Drain off excess fat.
Stir in the tomato sauce, salt, water, chili powder, cumin, oregano, cayenne powder until well combined. Reduce heat to low and simmer, covered, stirring occasionally, for 1 hour. Add more water if chili begins to dry out.
Whisk together the masa harina and 1/2 cup water in a small mixing bowl. Pour into chili. Add both beans and simmer another 10 minutes. If chili is too thick, add more water. Adjust seasoning. Ladle into individual bowls and serve with toppings as desired.