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Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity Under the 2015 Plan and 2020 Plan (Details) - Incentive Stock Options and Nonqualified Stock Options - 2015 Equity and 2020 Incentive Plan $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Number of Options, Outstanding, Beginning balance (in shares) | shares	5,569,567
Number of Options, Granted (in shares) | shares	1,623,184
Number of Options, Exercised (in shares) | shares	(477,539)
Number of Options, Forfeited (in shares) | shares	(82,052)
Number of Options, Outstanding, Ending balance (in shares) | shares	6,633,160	5,569,567
Number of Options, Exercisable (in shares) | shares	2,806,127
Number of Options, Vested and expected to vest (in shares) | shares	6,633,160
Share-Based Compensation Arrangement By Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]
Weighted- Average Exercise Price per Share, Outstanding, Beginning balance (USD per share) | $ / shares	$ 13.34
Weighted- Average Exercise Price per Share, Granted (USD per share) | $ / shares	30.85
Weighted- Average Exercise Price per Share, Exercised (USD per share) | $ / shares	6.80
Weighted- Average Exercise Price per Share, Forfeited (USD per share) | $ / shares	16.07
Weighted- Average Exercise Price per Share, Outstanding, Ending balance (USD per share) | $ / shares	18.06	$ 13.34
Weighted- Average Exercise Price per Share, Exercisable (USD per share) | $ / shares	13.98
Weighted- Average Exercise Price per Share, Vested and expected to vest (USD per share) | $ / shares	$ 18.06
Weighted- Average Remaining Contractual Term (in Years), Outstanding	8 years 2 months 4 days	7 years 11 months 15 days
Weighted- Average Remaining Contractual Term (in Years), Exercisable	7 years 3 months 3 days
Weighted- Average Remaining Contractual Term (in Years), Vested and expected to vest	8 years 2 months 4 days
Aggregate Intrinsic Value, Outstanding balance | $	$ 32,749	$ 43,696
Aggregate Intrinsic Value, Exercisable | $	20,335
Aggregate Intrinsic Value, Vested and expected to vest | $	$ 32,749

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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