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Equity Incentive Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  |  | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | --- | ---
Jan. 01, 2023 | Jun. 11, 2020 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting percentage for stock options granted |  | 25.00% |  |  |  |  |
Vesting period for stock options granted |  | 4 years |  |  |  |  |
Early exercised stock options |  |  | 927 |  | 927 |  | 3,705
Options granted |  |  |  |  | 36,710 |  |
Exercise of stock options (in shares) |  |  | 144,818 | 222,358 | 315,733 | 390,467 |
Weighted-average price per share |  |  | $ 14.89 | $ 7.9 | $ 11.33 | $ 6.06 |
Weighted-average grant date fair value of options granted |  |  | $ 30.65 | $ 18.01 | $ 28.04 | $ 16.39 |
Intrinsic value of the stock options exercised |  |  | $ 5.0 | $ 4.0 | $ 11.3 | $ 7.4 |
Restricted stock units outstanding |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting percentage for stock options granted |  | 25.00% |  |  |  |  |
Vesting percentage for stock options granted, Six months thereafter |  | 12.50% |  |  |  |  |
Vesting period for stock options granted |  | 4 years |  |  |  |  |
Other Restricted Stock Units |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting percentage for stock options granted, Six months thereafter |  | 12.50% |  |  |  |  |
Vesting period for stock options granted |  | 3 years 6 months |  |  |  |  |
Weighted-average grant date fair value of options granted |  |  | $ 49.82 |  | $ 43.93 |  |
Unrecognized stock-based compensation cost |  |  | $ 24.3 |  | $ 24.3 |  |
Unrecognized share-based compensation expense, expected to be recognized |  |  |  |  | 2 years 9 months 18 days |  |
2020 Equity Incentive Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Exercise price expire in years form the date of grant |  | 5 years |  |  |  |  |
Stock options granted term |  | 10 years |  |  |  |  |
Percentage of provisions subject to stockholders |  | 10.00% |  |  |  |  |
Shares reserved for issuance |  | 10,150,000 |  |  |  |  |
Term of plan |  | 10 years |  |  |  |  |
Percentage of outstanding number of shares |  | 5.00% |  |  |  |  |
Aggregate number of shares available for issuance |  |  | 6,408,390 |  | 6,408,390 |  |
Available for issuance of shares increased |  |  |  |  | 3,973,533 |  |
Number of shares outstanding |  |  | 7,577,134 |  | 7,577,134 |  |
2014 Equity Incentive Plan | Restricted stock units outstanding |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Number of shares outstanding |  |  | 2,380,439 |  | 2,380,439 |  |
2020 Employee Stock Purchase Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Shares reserved for issuance |  | 650,000 |  |  |  |  |
Term of plan |  | 10 years |  |  |  |  |
Percentage of outstanding number of shares |  | 1.00% |  |  |  |  |
Available for issuance of shares increased | 794,706 |  |  |  |  |  |
Employees purchase shares of common stock of lower of fair market value |  | 85.00% |  |  |  |  |
Offering period |  | 2 years |  |  |  |  |
Purchase period |  | 6 months |  |  |  |  |
Percentage of payroll deductions of eligible compensation |  | 15.00% |  |  |  |  |
Minimum | 2020 Equity Incentive Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Incentive stock option granted to employees owning percentage of shares of common stock |  | 10.00% |  |  |  |  |
Maximum | Other Liabilities |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Remaining liabilities related to early exercised shares |  |  | $ 0.1 |  | $ 0.1 |  | $ 0.1
Maximum | 2020 Equity Incentive Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Percentage of fair value per share on the grant date |  | 110.00% |  |  |  |  |

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