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Stock-based Compensation - Additional Information (Details) |  |  |  | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | ---
Jan. 01, 2023 shares | Oct. 14, 2022 $ / shares shares | Jul. 02, 2020 shares | Jun. 30, 2024 USD ($) shares | Jun. 30, 2023 USD ($) | Jun. 30, 2024 USD ($) employee $ / shares shares | Jun. 30, 2023 USD ($) | Apr. 30, 2024 shares | Jul. 31, 2015 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Stock-based compensation expense | $ |  |  |  | $ 15,400,000 | $ 14,800,000 | $ 30,300,000 | $ 30,200,000 |  |
Omnibus Agreement |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Vesting period |  | 5 years |  |  |  |  |  |  |
Stock options |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Unrecognized expense, stock options | $ |  |  |  | 47,300,000 |  | $ 47,300,000 |  |  |
Unrecognized expense, period for recognition |  |  |  |  |  | 1 year |  |  |
Stock-based compensation expense | $ |  |  |  | 7,100,000 | 9,300,000 | $ 14,800,000 | 20,300,000 |  |
RSUs |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Unrecognized expense, RSUs | $ |  |  |  | 72,200,000 |  | $ 72,200,000 |  |  |
Unrecognized expense, period for recognition |  |  |  |  |  | 1 year 4 months 24 days |  |  |
Grand date fair value (in dollars per share) | $ / shares |  |  |  |  |  | $ 16.30 |  |  |
Stock-based compensation expense | $ |  |  |  | 6,700,000 | 4,900,000 | $ 13,000,000.0 | 9,300,000 |  |
Warrant |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Stock-based compensation expense | $ |  |  |  | 1,600,000 | $ 600,000 | $ 2,500,000 | $ 600,000 |  |
Warrant | Omnibus Agreement |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Vesting period |  | 5 years |  |  |  |  |  |  |
Unrecognized expense, period for recognition |  |  |  |  |  | 5 years |  |  |
Warrant, number of shares issuable, common stock (in shares) |  | 3,352,025 |  |  |  |  |  |  |
Grand date fair value (in dollars per share) | $ / shares |  | $ 20.37 |  |  |  |  |  |  |
Unrecognized expense | $ |  |  |  | $ 63,300,000 |  | $ 63,300,000 |  |  |
Number of warrant shares vested (in shares) |  |  |  |  |  |  |  | 181,191 |
2020 Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  | 5,503,678 |  |  |  |  |  |
Common stock reserved for issuance, annual increase, percentage of outstanding shares | 5.00% |  | 5.00% |  |  |  |  |  |
Maximum shares that may be issued upon exercise of incentive stock options (in shares) |  |  | 3,650,000 |  |  |  |  |  |
Additional shares authorized (in shares) | 3,508,185 |  |  |  |  |  |  |  |
Common stock available for grant (in shares) |  |  |  | 5,734,296 |  | 5,734,296 |  |  |
2020 ESPP |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  | 1,000,000 |  |  |  |  |  |
Common stock reserved for issuance, annual increase, percentage of outstanding shares |  |  | 1.00% |  |  |  |  |  |
Common stock available for grant (in shares) |  |  |  | 0 |  | 0 |  |  |
Number of shares available for issuance, annual increase (in shares) |  |  | 1,000,000 |  |  |  |  |  |
2015 Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  |  |  |  | 7,312,590
Common stock available for grant (in shares) |  |  |  | 0 |  | 0 |  |  |
Number of shares of common stock per exercised option (in shares) | employee |  |  |  |  |  | 1 |  |  |
2015 Plan | Stock options |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  |  | 4 years |  |  |
Expiration period |  |  |  |  |  | 10 years |  |  |
Incentive Stock Plan 2021 |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Share-based compensation equity awards granted (in shares) |  |  |  |  |  | 404,207 |  |  |

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