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Equity Incentive Plans and Stock-Based Compensation - Schedule of Option Activity Under the 2015 Plan and 2020 Plan (Details) - Incentive Stock Options and Nonqualified Stock Options - 2015 Equity and 2020 Incentive Plan - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2024	Dec. 31, 2023
Number of Options
Outstanding, beginning balance (in shares)	6,953,487
Granted (in shares)	2,134,869
Exercised (in shares)	(225,175)
Forfeited (in shares)	(632,944)
Outstanding, ending balance (in shares)	8,230,237	6,953,487
Number of options, exercisable (in shares)	3,973,720
Number of options, vested and expected to vest (in shares)	8,230,237
Weighted- Average Exercise Price per Share
Outstanding, beginning balance (USD per share)	$ 17.95
Granted (USD per share)	15.50
Exercised (USD per share)	7.25
Forfeited (USD per share)	17.56
Outstanding, ending balance (USD per share)	17.64	$ 17.95
Weighted- average exercise price per share, exercisable (USD per share)	16.65
Weighted- average exercise price per share, vested and expected to vest (USD per share)	$ 17.64
Weighted- average remaining contractual term (in years), outstanding	7 years 11 months 4 days	7 years 8 months 12 days
Weighted- average remaining contractual term (in years), exercisable	6 years 9 months 25 days
Weighted- average remaining contractual term (in years), vested and expected to vest	7 years 11 months 4 days
Aggregate intrinsic value, outstanding balance	$ 7,794	$ 32,646
Aggregate intrinsic value, exercisable	7,306
Aggregate intrinsic value, vested and expected to vest	$ 7,794

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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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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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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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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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