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Equity Incentive Plans - Summary of Activity Under Stock Option Plans (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Options and Restricted Stock Units Available for Grant, forfeited     190,378  
Number of Options, granted     36,710  
Weighted-Average Exercise Price Per Share, Options exercised $ 14.89 $ 7.9 $ 11.33 $ 6.06
2020 Plan and 2014 Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Options and Restricted Stock Units Available for Grant, Beginning Balance     4,679,598  
Options and Restricted Stock Units Available for Grant, Additional shares authorized     3,973,533  
Options and Restricted Stock Units Available for Grant, granted     (2,048,852)  
Options and Restricted Stock Units Available for Grant, exercised     1,080  
Options and Restricted Stock Units Available for Grant, Ending Balance 6,408,390   6,408,390  
Number of Options, Beginning Balance     7,715,494  
Number of Options, granted     2,048,852  
Number of Options, exercised     (316,813)  
Number of Options, forfeited     (190,378)  
Number of Options, Ending Balance 9,257,155   9,257,155  
Number of Options, Vested and expected to vest 9,257,155   9,257,155  
Number of Options, Exercisable 4,334,997   4,334,997  
Weighted-Average Exercise Price Per Share, Options granted     $ 43.29  
Weighted-Average Exercise Price Per Share, Options exercised     11.33  
Weighted-Average Exercise Price Per Share, Options forfeited     32.5  
Weighted-Average Exercise Price Per Share, Ending Balance $ 24.11   24.11  
Weighted-Average Exercise Price Per Share, Vested and expected to vest 24.11   24.11  
Weighted-Average Exercise Price Per Share, Exercisable $ 14.83   $ 14.83  
Weighted-Average Remaining Contractual Term (Years)     7 years 10 months 24 days  
Weighted-Average Remaining Contractual Term (Years), Vested and expected to vest     7 years 10 months 24 days  
Weighted-Average Remaining Contractual Term (Years), Exercisable     6 years 10 months 13 days  
Aggregate Intrinsic Value $ 248,913   $ 248,913  
Aggregate Intrinsic Value, Vested and expected to vest 248,913   248,913  
Aggregate Intrinsic Value, Exercisable $ 156,754   $ 156,754  
2020 Plan and 2014 Plan | Restricted Stock Units        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Options and Restricted Stock Units Available for Grant, granted     (500,953)  
Options and Restricted Stock Units Available for Grant, forfeited     40,665  
Restricted stock units withheld     72,941