Stock-based Compensation - Assumptions Used in Estimated Fair Value of 2020 Employee Stock Purchase Plan Using Black-Scholes Option Pricing Model (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Abstract]
Expected volatility, Minimum	59.00%	53.00%	60.00%
Expected volatility, Maximum	60.00%	57.00%	71.00%
Risk-free interest rate, Minimum	3.18%	0.62%	0.23%
Risk-free interest rate, Maximum	4.01%	1.11%	1.20%
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Abstract]
Expected volatility, Minimum		44.00%
Expected volatility, Maximum		57.00%
Risk-free interest rate, Minimum		0.04%
Risk-free interest rate, Maximum		0.16%
Minimum
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Abstract]
Expected term	5 years 2 months 12 days	5 years 9 months 18 days	5 years 1 month 6 days
Minimum | 2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Abstract]
Expected term		6 months
Maximum
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Abstract]
Expected term	5 years 9 months 18 days	6 years 8 months 12 days	7 years
Maximum | 2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions And Methodology [Abstract]
Expected term		2 years