Stock-based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions					12 Months Ended
	Jan. 01, 2024	Oct. 14, 2022	Jul. 28, 2021	Jul. 02, 2020	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Jul. 27, 2021	Jul. 31, 2015
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercisable, weighted-average exercise price (usd per share)					$ 30.07
Stock-based compensation expense					$ 59.9	$ 59.3	$ 44.1
Omnibus Agreement
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Class of warrant issued of common stock (in shares)		3,352,025
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense					37.6	47.8	40.1
Unrecognized expense, stock options					$ 55.4
Unrecognized expense, period for recognition					1 year 1 month 6 days
Stock Option, Repriced
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercisable, weighted-average exercise price (usd per share)			$ 90.70
Repricing of stock options, incremental expense			$ 3.0
Stock-based compensation expense					$ 0.7	0.7
Stock Option, Repriced | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercisable, weighted-average exercise price (usd per share)									$ 142.64
Stock Option, Repriced | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercisable, weighted-average exercise price (usd per share)									$ 159.02
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense					19.8	11.5	4.0
Unrecognized expense, RSUs					$ 62.3
Unrecognized expense, period for recognition					1 year 7 months 6 days
Granted (usd per share)					$ 16.24
Warrant liability
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense					$ 2.5	$ 2.5	$ 0.0	$ 0.0
Warrant liability | Omnibus Agreement
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		5 years
Class of warrant issued of common stock (in shares)		3,352,025
Granted (usd per share)		$ 20.37
Unrecognized compensation expense related to warrants					$ 65.8
Vested warrant shares					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%
Maximum shares that may be issued upon exercise of incentive stock options (in shares)				3,650,000
Additional shares authorized (in shares)					4,037,812
2020 Plan | Subsequent event
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for issuance, annual increase, percentage of outstanding shares	5.00%
Number of additional shares authorized (in shares)	3,508,185
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
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
Additional shares authorized (in shares)					0
2015 Plan | Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period					4 years
Number of shares called by each option					1
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
Employee Share Purchase Plan (ESPP) | Subsequent event
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of additional shares authorized (in shares)	0