Equity Incentive Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions			12 Months Ended
	Jan. 01, 2023	Jun. 11, 2020	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
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			0	3,705
Options granted			36,710
Exercise of stock options (in shares)			538,888	1,153,285	926,514
Weighted-average price per share			$ 10.5	$ 4.25	$ 3.25
Weighted-average grant date fair value of options granted			$ 28.74	$ 18.88	$ 14.65
Intrinsic value of the stock options exercised			$ 21.2	$ 34.0	$ 18.9
Unrecognized stock-based compensation expense			$ 127.5
Unrecognized share-based compensation expense, expected to be recognized			2 years 8 months 12 days
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			$ 45.57	$ 26.25
Unrecognized stock-based compensation cost			$ 25.9	$ 10.8
Unrecognized share-based compensation expense, expected to be recognized			2 years 8 months 12 days	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			6,065,150
Available for issuance of shares increased			4,768,241
2020 Equity Incentive Plan | Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares outstanding			7,840,335
2014 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares outstanding			2,227,963
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%
Available for issuance of shares increased	794,706
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%
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%