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Stock Plan - Additional Information (Details) - USD ($) $ in Thousands |  | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | ---
Sep. 09, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Jan. 01, 2023 | Sep. 24, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Number of shares reserved for issuance |  |  |  |  |  | 457,713 |
Restricted stock units granted to employees |  |  |  | 0 |  |  |
Total compensation cost related to nonvested awards not yet recognized |  | $ 27,617 |  | $ 27,617 |  |  |
Unrecognized compensation cost, weighted average period of recognition |  |  |  | 2 years 8 months 12 days |  |  |
Dividend yield |  |  |  | 0.00% | 0.00% |  |
Compensation expense |  | 3,153 | $ 2,518 | $ 6,085 | $ 4,695 |  |
Restricted stock units |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Restricted stock units granted to employees | 374,899 |  |  |  |  |  |
Unrecognized compensation cost, weighted average period of recognition |  |  |  | 1 year 2 months 12 days |  |  |
Compensation expense |  | 610 |  | $ 1,207 |  |  |
Unrecognized compensation cost |  | $ 3,052 |  | $ 3,052 |  |  |
2020 Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Number of shares reserved for issuance |  | 4,406,374 |  | 4,406,374 |  |  |
Number of additional shares reserved for issuance, minimum |  | 4,406,374 |  | 4,406,374 |  |  |
Percentage of number of shares of common stock outstanding increase |  | 5.00% |  | 5.00% |  |  |
Number of additional shares reserved for issuance, maximum |  |  |  |  |  | 1,830,853 |
Shares issued |  |  |  | 4,595,271 |  |  |
2020 Plan | Restricted stock units |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period on an annual basis | 2 years |  |  |  |  |  |
2020 ESPP |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Number of shares reserved for issuance |  | 685,446 |  | 685,446 |  |  | 400,752
Percentage of number of shares of common stock outstanding increase |  |  |  |  |  |  | 1.00%
Number of additional shares reserved for issuance, maximum |  |  |  |  |  |  | 801,504
Shares issued |  |  |  | 116,018 |  |  |
Shares outstanding |  |  |  | 116,018 |  |  |

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