Stockholders’ Equity - Reserved Shares of Common Stock for Issuance (Details) - shares	Jun. 30, 2023	Dec. 31, 2022
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	29,987,502	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)	6,298,961	5,842,057
Options issued and outstanding
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	13,370,041	12,547,010
Restricted stock units outstanding
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	7,274,949	6,046,796
Performance-based restricted stock unit outstanding
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	0	687,500
Shares available for issuance under employee stock purchase plan
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	3,043,551	2,543,089