Stockholders’ Equity - Reserved Shares of Common Stock for Issuance (Details) - shares	Mar. 31, 2023	Dec. 31, 2022
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	31,200,906	27,666,452
Shares available for future issuance under 2020 plan | Common stock
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	6,004,507	5,842,057
Options issued and outstanding
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	13,929,917	12,547,010
RSUs outstanding
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	8,222,931	6,046,796
PRSUs outstanding
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	0	687,500
Shares available for issuance under ESPP
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	3,043,551	2,543,089