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Equity Incentive Plans - Summary of Activity Under Stock Option Plans (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of Options, granted 36,710    
Weighted-Average Exercise Price Per Share, Options exercised $ 4.25 $ 3.25 $ 1.88
2020 Plan and 2014 Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Options Available for Grant, Beginning Balance 6,104,756 4,651,149  
Options Available for Grant, Additional shares authorized 2,651,598 2,553,579  
Options Available for Grant, granted (3,850,981) (1,616,021)  
Options Available for Grant, exercised [1] 385    
Options Available for Grant, forfeited 277,209 516,049  
Options Available for Grant, Ending Balance 4,679,598 6,104,756 4,651,149
Number of Options, Beginning Balance 5,295,007 5,121,549  
Number of Options, granted 3,850,981 1,616,021  
Number of Options, exercised (1,153,285) (926,514)  
Number of Options, forfeited (277,209) (516,049)  
Number of Options, Ending Balance 7,715,494 5,295,007 5,121,549
Number of Options, Vested and expected to vest 7,715,494    
Number of Options, Exercisable 2,921,091    
Weighted-Average Exercise Price Per Share, Beginning Balance $ 9.30 $ 4.99  
Weighted-Average Exercise Price Per Share, Options granted 27.67 21.83  
Weighted-Average Exercise Price Per Share, Options exercised 4.25 3.25  
Weighted-Average Exercise Price Per Share, Options forfeited 23.54 16.70  
Weighted-Average Exercise Price Per Share, Ending Balance 18.70 $ 9.30 $ 4.99
Weighted-Average Exercise Price Per Share, Vested and expected to vest 18.70    
Weighted-Average Exercise Price Per Share, Exercisable $ 9.41    
Weighted-Average Remaining Contractual Term (Years) 8 years 2 months 12 days    
Weighted-Average Remaining Contractual Term (Years), Vested and expected to vest 8 years 2 months 12 days    
Weighted-Average Remaining Contractual Term (Years), Exercisable 6 years 9 months 21 days    
Aggregate Intrinsic Value $ 225,667    
Aggregate Intrinsic Value, Vested and expected to vest 225,667    
Aggregate Intrinsic Value, Exercisable $ 112,585    
2020 Plan and 2014 Plan | Restricted Stock Units      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Options Available for Grant, granted (581,047)    
Options Available for Grant, forfeited 45,052    
Restricted Stock Units withheld 32,626    
[1] Net exercise - shares returned to the Plan.