Stock-based Compensation - Additional Information (Details) $ in Thousands	1 Months Ended			3 Months Ended				6 Months Ended		39 Months Ended
	Jan. 31, 2024 shares	Jan. 31, 2023 shares	Oct. 31, 2020 shares	Jun. 30, 2024 USD ($) shares	Mar. 31, 2024 shares	Jun. 30, 2023 USD ($)	Mar. 31, 2023 shares	Jun. 30, 2024 USD ($) Installment shares	Jun. 30, 2023 USD ($)	Dec. 31, 2023 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted								3,179,550
Compensation expense | $				$ 12,720		$ 12,353		$ 25,306	$ 24,888
Gross proceeds from issuance of common stock | $								$ 150	165
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Issuance of common stock under ESPP, shares					58,555		57,803
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of units granted				177,600				1,126,100
Number of units cancelled due to terminations								12,633
Aggregate grant date fair market value of restricted stock units granted | $				$ 611				$ 4,557
Number of installments | Installment								3
Unrecognized compensation expense | $				$ 9,158				$ 9,158
Remaining weighted average period for recognize compensation expense								1 year 10 months 24 days
Stock units outstanding				2,523,052				2,523,052		2,337,517
Compensation expense | $				$ 1,372		903		$ 2,662	1,503
Performance-based Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of units granted								1,057,900
Stock units outstanding				1,782,870				1,782,870		724,970
Compensation expense | $				$ 183				$ 303
2022 Performance-based Restricted Stock Units [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Performance based restricted stock units terms of award								The 2022 PSUs provide for a performance period from February 1, 2022 through January 31, 2025 to achieve up to six defined performance metrics. The percentage of 2022 PSUs eligible to vest will be determined based on the number of metrics achieved during the performance period and may range from 0% to 200%. The Company has not recognized any compensation expense through June 30, 2024, as achievement of the minimum performance criteria had not been deemed probable. The vesting of any eligible 2022 PSUs will occur in equal installments on January 31, 2025 and January 31, 2026.
Stock units outstanding										724,970
2024 Performance-based Restricted Stock Units [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of units granted								1,057,900
Aggregate grant date fair market value of restricted stock units granted | $								$ 4,401
Triggering expense recognition				50.00%				50.00%
Performance based restricted stock units terms of award								The 2024 PSUs provide for a performance period from February 1, 2024 through January 31, 2027 to achieve up to four defined metrics. The percentage of 2024 PSUs eligible to vest will be determined based on the number of metrics achieved during the performance period and may range from 0% to 200%. As of June 30, 2024 one metric was deemed probable of achievement resulting in expense recognition of 50% of the grant date value of the 2024 PSUs. Compensation expense is being recognized from the grant date through the final vest date of January 31, 2027.
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted				247,200				3,179,550
Aggregate grant date fair market value | $				$ 555				$ 9,539
Vesting service period								4 years
Award contractual term								10 years
Unrecognized compensation expense | $				42,058				$ 42,058
Remaining weighted average period for recognize compensation expense								2 years 4 months 24 days
Compensation expense | $				$ 11,131		11,417		$ 22,272	23,297
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of shares of common stock Outstanding			1.00%
Common stock available for issuance				2,672,701				2,672,701
Compensation expense | $				$ 34		$ 33		$ 69	$ 88
Common stock, capital shares reserved for future issuance			1,187,000
Issuance of common stock under ESPP, shares								58,555
Gross proceeds from issuance of common stock | $								$ 150
Employee Stock Purchase Plan | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Increased number of shares available under plan	834,355	832,876
2020 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Increased number of shares available under plan	4,171,775									12,450,364
Percentage of shares of common stock Outstanding			5.00%
Common stock available for issuance				5,370,429				5,370,429
Minimum | 2022 Performance-based Restricted Stock Units [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting percentage								0.00%
Minimum | 2024 Performance-based Restricted Stock Units [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting percentage								0.00%
Maximum | 2022 Performance-based Restricted Stock Units [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting percentage								200.00%
Maximum | 2024 Performance-based Restricted Stock Units [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting percentage								200.00%
Maximum | 2020 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for grant			7,924,000