Stockholders’ Equity - Reserved Shares of Common Stock for Issuance (Details) - shares	Dec. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Shares reserved of common stock for issuance	27,666,452	26,142,793
Shares available for future issuance under 2020 plan | Common stock
Class of Stock [Line Items]
Shares reserved of common stock for issuance	5,842,057	9,979,700
Options issued and outstanding
Class of Stock [Line Items]
Shares reserved of common stock for issuance	12,547,010	12,785,176
RSUs outstanding
Class of Stock [Line Items]
Shares reserved of common stock for issuance	6,046,796	1,508,615
PRSUs outstanding
Class of Stock [Line Items]
Shares reserved of common stock for issuance	687,500	0
Shares available for issuance under ESPP
Class of Stock [Line Items]
Shares reserved of common stock for issuance	2,543,089	1,869,302