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Stock-based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended
Jan. 01, 2022
Jul. 02, 2020
Mar. 31, 2022
Mar. 31, 2021
Jul. 31, 2015
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Exercisable, weighted-average exercise price (usd per share)     $ 22.32    
Stock-based compensation expense     $ 14.1 $ 6.1  
2020 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Common stock reserved for issuance (in shares)   5,503,678      
Common stock reserved for issuance, annual increase, percentage of outstanding shares 5.00% 5.00%      
Maximum shares that may be issued upon exercise of incentive stock options (in shares)   3,650,000      
Additional shares authorized (in shares) 3,083,050        
Common stock available for grant (in shares)     8,044,269    
2020 ESPP          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Common stock reserved for issuance (in shares)   1,000,000      
Common stock reserved for issuance, annual increase, percentage of outstanding shares   1.00%      
Additional shares authorized (in shares) 0        
Common stock available for grant (in shares)     0    
Number of shares available for issuance, annual increase (in shares)   1,000,000      
2015 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Common stock reserved for issuance (in shares)         7,312,590
Common stock available for grant (in shares)     0    
Stock options          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Stock-based compensation expense     $ 12.1 5.5  
Unrecognized expense, stock options     $ 83.2    
Unrecognized expense, period for recognition     1 year 3 months 18 days    
Stock options | 2015 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period     4 years    
Expiration period     10 years    
RSUs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Stock-based compensation expense     $ 2.0 $ 0.6  
Unrecognized expense, RSUs     $ 22.2    
Unrecognized expense, period for recognition     1 year 8 months 12 days