Stockholders’ Equity - Schedule of Reserved Shares of Common Stock for Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	27,468,577	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)	6,420,703	5,842,057
Options issued and outstanding
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	12,617,254	12,547,010
RSUs outstanding
Class of Stock [Line Items]
Shares reserved of common stock for issuance (in shares)	5,534,394	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)	2,896,226	2,543,089