Stock-based Compensation - Additional Information (Details)				3 Months Ended
	Jan. 01, 2023 shares	Oct. 14, 2022 $ / shares shares	Jul. 02, 2020 shares	Mar. 31, 2024 USD ($) employee $ / shares shares	Mar. 31, 2023 USD ($)	Apr. 30, 2024 shares	Jul. 31, 2015 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense | $				$ 14,900,000	$ 15,400,000
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 | $				$ 47,000,000
Unrecognized expense, period for recognition				1 year 1 month 6 days
Stock-based compensation expense | $				$ 7,700,000	11,000,000.0
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized expense, RSUs | $				$ 67,300,000
Unrecognized expense, period for recognition				1 year 6 months
Grand date fair value (in dollars per share) | $ / shares				$ 16.70
Stock-based compensation expense | $				$ 6,300,000	4,400,000
Warrant
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense | $				$ 900,000	$ 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
Warrant, number of shares issuable, common stock (in shares)		3,352,025
Grand date fair value (in dollars per share) | $ / shares		$ 20.37
Unrecognized expense | $				$ 64,900,000
Number of warrant shares vested (in shares)				0
Warrant | Omnibus Agreement | Subsequent event
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of warrant shares vested (in shares)						181,191
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)	3,508,185
Common stock available for grant (in shares)				6,936,498
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
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
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