Stock-based Compensation - Summary of Option Activity Changes in Shares Available for Grant under the 2020 Plan (Details)	12 Months Ended
	Dec. 31, 2023 shares
Share-Based Payment Arrangement [Abstract]
Shares Available for Grant, Beginning Balance	4,253,854
2020 Plan reserve increase on January 1, 2023	1,893,869
Options and restricted stock units granted	(3,834,783)
Options and restricted stock units forfeited, cancelled, or expired	845,154
Shares Available for Grant, Ending Balance	3,158,094