Stock-Based Compensation - Additional Information (Details) - USD ($) $ in Millions	6 Months Ended
Jun. 30, 2023	Dec. 31, 2022
Unvested Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total unrecognized compensation cost related to unvested restricted stock units	$ 8.7
Weighted-average period (in years)	2 years 3 months 7 days
Shares reserved for exercise of outstanding stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted-average period (in years)	1 year 10 months 13 days
Unrecognized compensation expense related to unvested stock based awards	$ 34.3
2020 Employee Stock Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized (in shares)	9,918,602	7,449,480
2017 Stock Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized (in shares)	5,937,763	5,937,763
2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized (in shares)	1,308,408	981,306

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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