Stock-based Compensation - Additional Information (Details) $ / shares in Units, $ in Millions				3 Months Ended		9 Months Ended
	Jan. 01, 2023 shares	Oct. 14, 2022 $ / shares shares	Jul. 02, 2020 shares	Sep. 30, 2023 USD ($) shares	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($) employee $ / shares shares	Sep. 30, 2022 USD ($)	Jul. 31, 2015 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense | $				$ 15.4	$ 15.6	$ 45.6	$ 43.6
Omnibus Agreement
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		5 years
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized expense, stock options | $				64.3		$ 64.3
Unrecognized expense, period for recognition						1 year 2 months 12 days
Stock-based compensation expense | $				9.1	11.9	$ 29.4	35.9
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized expense, RSUs | $				59.7		$ 59.7
Unrecognized expense, period for recognition						1 year 7 months 6 days
Grand date fair value (in dollars per share) | $ / shares						$ 15.84
Stock-based compensation expense | $				5.4	3.7	$ 14.7	7.7
Warrant
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense | $				0.9	$ 0.0	$ 1.5	$ 0.0
Warrant | Omnibus Agreement
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		5 years
Unrecognized expense, period for recognition						5 years
Class of warrant issued of common stock (in shares)		3,352,025
Grand date fair value (in dollars per share) | $ / shares		$ 20.37
Stock-based compensation expense | $				1.5		$ 1.5
Unrecognized expense | $				$ 66.8		$ 66.8
Number of warrant shares vested				0		0
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)	3,463,751
Common stock available for grant (in shares)				4,393,900		4,393,900
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%
Common stock available for grant (in shares)				0		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		0
Number of shares of common stock per exercised option (in shares) | employee						1
2015 Plan | Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period						4 years
Expiration period						10 years
Incentive Stock Plan 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation equity awards granted (in shares)						404,207