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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 12 Months Ended
Jan. 01, 2023
Jun. 11, 2020
Jun. 30, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting percentage for stock options granted   25.00%        
Vesting period for stock options granted   4 years        
Early exercised stock options       3,705 7,410  
Options granted       36,710    
Exercise of stock options (in shares)       1,153,285 926,514 358,264
Weighted-average price per share       $ 4.25 $ 3.25 $ 1.88
Weighted-average grant date fair value of options granted       $ 18.88 $ 14.65 $ 9.62
Intrinsic value of the stock options exercised       $ 34.0 $ 18.9 $ 7.8
Unrecognized stock-based compensation expense       $ 87.7    
Unrecognized share-based compensation expense, expected to be recognized       2 years 10 months 24 days    
Performance-based Awards            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock-based compensation expense     $ 0.3      
Performance-based Awards | IPO            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares vested     362,935      
Restricted Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting percentage for stock options granted   25.00%        
Vesting percentage for stock options granted, Six months thereafter   12.50%        
Vesting period for stock options granted   4 years        
Other Restricted Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting percentage for stock options granted, Six months thereafter   12.50%        
Vesting period for stock options granted   3 years 6 months        
Weighted-average grant date fair value of options granted       $ 26.25    
Unrecognized stock-based compensation cost       $ 10.8    
Unrecognized share-based compensation expense, expected to be recognized       3 years    
2020 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Exercise price expire in years form the date of grant   5 years        
Stock options granted term   10 years        
Percentage of provisions subject to stockholders   10.00%        
Shares reserved for issuance   10,150,000        
Term of plan   10 years        
Percentage of outstanding number of shares   5.00%        
Aggregate number of shares available for issuance         4,679,598  
Available for issuance of shares increased       3,973,533    
2020 Equity Incentive Plan | Restricted Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares outstanding       5,596,099    
2014 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares outstanding       2,576,161    
2020 Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares reserved for issuance   650,000        
Term of plan   10 years        
Percentage of outstanding number of shares   1.00%        
Employees purchase shares of common stock of lower of fair market value   85.00%        
Offering period   2 years        
Purchase period   6 months        
Percentage of payroll deductions of eligible compensation   15.00%        
Employees acquired shares of common stock       61,709 62,546 27,465
2020 Employee Stock Purchase Plan | Subsequent Event            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Available for issuance of shares increased 794,706          
Minimum | 2020 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Incentive stock option granted to employees owning percentage of shares of common stock   10.00%        
Maximum | Other Liabilities            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Remaining liabilities related to early exercised shares       $ 0.1 $ 0.1  
Maximum | 2020 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of fair value per share on the grant date   110.00%