Equity Incentive Plans - Additional Information (Details) $ / shares in Units, $ in Thousands	1 Months Ended		12 Months Ended
	Feb. 28, 2023 USD ($) $ / shares shares	Feb. 28, 2022 USD ($) Planparticipant shares	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Jun. 21, 2022 $ / shares	Dec. 31, 2020 shares	Nov. 30, 2020 shares	Dec. 31, 2017 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price of stock option as a percent of fair market value, minimum			110.00%
Options, grants in period, weighted average grant date fair value (in dollars per share) | $ / shares			$ 4.19	$ 14.15
Options exercised in period, intrinsic value | $			$ 500	$ 12,700
Unrecognized compensation expense, period for recognition			2 years
Stock Options Granted			3,576,669
Risk-free interest rate			0.00%
Expected dividend yield			0.00%
Number of grantees affected by modification | Planparticipant		1
Modifications to extend term and timing of vesting, of shares (in shares)		1,330,892
Share price (in usd per share) | $ / shares					$ 7.4
Total stock-based compensation | $		$ 900	$ 34,424	$ 33,673
2020 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of outstanding common stock			5.00%
Common stock reserved for future issuance (in shares)						5,336,569
Unexercised stock options (in usd per share) | $ / shares					$ 19
Employee benefits and share-based compensation | $			$ 700
Unrecognized incremental stock-based compensation | $			$ 1,100
2017 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for future issuance (in shares)								516,710
Market Condition Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation expense, period for recognition			1 year 4 months 28 days
Granted (in shares)	1,794,000
Market condition option, percent	25.00%
Grant date fair value | $	$ 5,200
Total stock-based compensation | $			$ 2,400
Unrecognized incremental stock-based compensation | $			$ 2,800
Market Condition Options | Measurement Input, Risk Free Interest Rate
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Market risk benefit, measurement input	3.94
Market Condition Options | Measurement Input, Option Volatility
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Market risk benefit, measurement input	83.1
Market Condition Options | Measurement Input, Expected Dividend Rate
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Market risk benefit, measurement input	0
Market Condition Options | Measurement Input, Strike Price
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Market risk benefit, measurement input	4.59
Market Condition Options | Minimum | Measurement Input, Share Price
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Market risk benefit, measurement input	2.8
Market Condition Options | Maximum | Measurement Input, Share Price
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Market risk benefit, measurement input	3.02
Stock Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period			4 years
Award expiration period			10 years
Unrecognized compensation expense, amount | $			$ 30,800
Unrecognized compensation expense, period for recognition			3 years 3 months 29 days
Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation expense, amount | $			$ 20,100
Unrecognized compensation expense, period for recognition			2 years 10 months 24 days
Granted (in shares)			3,415,976
Unvested restricted stock (in shares)			3,680,076	1,650,976
Restricted stock units | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period			4 years
Estimated ESPP shares to be issued
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of outstanding common stock			1.00%
Unrecognized compensation expense, amount | $			$ 100
Unrecognized compensation expense, period for recognition			4 months 13 days
ESPP, maximum employee subscription rate			15.00%
Restricted common stock subject to future vesting
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unvested restricted stock (in shares)			1,023	60,787
Class A Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Issuance of Class A common stock in connection with employee stock purchase plan (in shares)			193,157	107,499
Class A common stock | 2020 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for future issuance (in shares)			14,570,948
Class A common stock | Maximum | 2020 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Increase in number of shares reserved for issuance			9,037,149
Class A common stock | Market Condition Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share price (in usd per share) | $ / shares	$ 6.89
Class A common stock | Estimated ESPP shares to be issued
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for future issuance (in shares)			1,829,437				602,570
Issuance of Class A common stock in connection with employee stock purchase plan (in shares)			193,157
Class A common stock | Estimated ESPP shares to be issued | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Increase in number of shares reserved for issuance			1,807,476
Class A common stock | Share-Based Payment Arrangement | 2020 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for future issuance (in shares)			4,366,211