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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