Equity Incentive Plans - Summary of Activity Under Stock Option Plans (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
		Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, granted		36,710
Weighted-Average Exercise Price Per Share, Options exercised		$ 10.5	$ 4.25	$ 3.25
2020 Plan and 2014 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Available for Grant, Beginning Balance		4,679,598	6,104,756
Options Available for Grant, Additional shares authorized		3,973,533	2,651,598
Options Available for Grant, granted		(2,343,037)	(3,850,981)
Options Available for Grant, exercised	[1]	1,080	385
Options Available for Grant, forfeited		204,807	277,209
Options Available for Grant, Ending Balance		6,065,150	4,679,598	6,104,756
Number of Options, Beginning Balance		7,715,494	5,295,007
Number of Options, granted		2,343,037	3,850,981
Number of Options, exercised		(538,888)	(1,153,285)
Number of Options, forfeited		(204,807)	(277,209)
Number of Options, Ending Balance		9,314,836	7,715,494	5,295,007
Number of Options, Vested and expected to vest		9,314,836
Number of Options, Exercisable		4,646,989
Weighted-Average Exercise Price Per Share, Beginning Balance		$ 18.70	$ 9.30
Weighted-Average Exercise Price Per Share, Options granted		44.44	27.67
Weighted-Average Exercise Price Per Share, Options exercised		10.50	4.25
Weighted-Average Exercise Price Per Share, Options forfeited		32.58	23.54
Weighted-Average Exercise Price Per Share, Ending Balance		25.35	$ 18.70	$ 9.30
Weighted-Average Exercise Price Per Share, Vested and expected to vest		25.35
Weighted-Average Exercise Price Per Share, Exercisable		$ 16.4
Weighted-Average Remaining Contractual Term (Years)		7 years 9 months	8 years 2 months 12 days
Weighted-Average Remaining Contractual Term (Years), Vested and expected to vest		7 years 9 months
Weighted-Average Remaining Contractual Term (Years), Exercisable		6 years 9 months 18 days
Aggregate Intrinsic Value		$ 348,868	$ 225,667
Aggregate Intrinsic Value, Vested and expected to vest		348,868
Aggregate Intrinsic Value, Exercisable		$ 215,608
2020 Plan and 2014 Plan | Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Available for Grant, granted		(574,123)	(581,047)
Options Available for Grant, forfeited		44,537	45,052
Restricted Stock Units withheld		78,755	32,626

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