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Equity Incentive Plans and Stock-Based Compensation - 2020 Employee Stock Purchase Plan - Narrative (Details) - USD ($) $ in Thousands | 1 Months Ended | 3 Months Ended | 6 Months Ended |
--- | --- | --- | --- | ---
Jun. 30, 2020 | Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023 | Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Total shares reserved for future issuance (in shares) |  | 15,636,106 |  | 15,636,106 |  | 12,544,982
Total stock-based compensation expense |  | $ 10,644 | $ 13,046 | $ 20,310 | $ 24,969 |
2020 Employee Stock Purchase Plan |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Employee stock purchase plan, description | The 2020 ESPP provides that the number of shares reserved and available for issuance will automatically increase on January 1 of each calendar year, beginning January 1, 2021, by the least of (1) 1.0% of the total number of shares of common stock outstanding on December 31 of the preceding calendar year, (2) 700,000 shares or (3) such lesser amount as determined by the administrator of the 2020 ESPP, which is the compensation committee of the board of directors of the Company. |  |  |  |  |
Common stock shares outstanding percentage | 1.00% |  |  |  |  |
Total shares reserved for future issuance (in shares) | 700,000 | 1,336,085 |  | 1,336,085 |  |
Percentage of payroll deductions | 15.00% |  |  |  |  |
Employee stock purchase plan offering period | 6 months |  |  |  |  |
Common stock fair market value percentage | 85.00% |  |  |  |  |
Total stock-based compensation expense |  | $ 100 | $ 100 | $ 300 | $ 300 |
Number of common stock issued (in shares) |  | 68,882 |  | 68,882 |  |

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