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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%