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Equity Incentive Plans - Additional Information (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended
Feb. 28, 2023
$ / shares
shares
Feb. 29, 2024
$ / shares
shares
Jun. 30, 2024
USD ($)
shares
Jun. 30, 2023
USD ($)
shares
Jun. 30, 2024
USD ($)
shares
Jun. 30, 2023
USD ($)
Dec. 31, 2023
shares
Jun. 21, 2022
$ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unrecognized compensation expense, period for recognition         2 years      
Share price (in usd per share) | $ / shares               $ 7.4
Stock-based compensation | $     $ 7,665 $ 9,752 $ 15,245 $ 18,476    
2020 Equity Incentive Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unexercised stock options (in usd per share) | $ / shares               $ 19
Employee benefits and share-based compensation | $     200 200 300 400    
Unrecognized incremental stock-based compensation | $     800   800      
Market Condition Options                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Granted (in shares) 1,794,000              
Market condition option, percent 25.00%              
Grant date fair value | $         2,300 5,200    
Stock-based compensation | $     600 $ 1,000 $ 1,100 $ 1,400    
Market Condition Options | 2023 Grants                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unrecognized compensation expense, period for recognition         1 year 7 months 6 days      
Unrecognized incremental stock-based compensation | $     1,400   $ 1,400      
Market Condition Options | 2024 Grants                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unrecognized compensation expense, period for recognition         2 years 8 months 12 days      
Granted (in shares)   1,896,901            
Unrecognized incremental stock-based compensation | $     $ 1,900   $ 1,900      
Market Condition Options | CEO Award | 2024 Grants                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Granted (in shares)   1,032,901            
Market Condition Options | CEO Award | Minimum | 2024 Grants | Measurement Input, Share Price                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Market risk benefit, measurement input     1.16 2.8 1.16 2.8    
Market Condition Options | CEO Award | Maximum | 2024 Grants | Measurement Input, Share Price                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Market risk benefit, measurement input     1.27 3.02 1.27 3.02    
Market Condition Options | Executive Awards | 2024 Grants                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Granted (in shares)   864,000            
Restricted stock units                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Granted (in shares)         2,813,076      
Unvested restricted stock (in shares)     5,126,373   5,126,373   3,680,076  
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)     117,399 68,495        
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)     17,785,881   17,785,881      
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 | Market Condition Options | CEO Award | 2024 Grants                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share price (in usd per share) | $ / shares   $ 5.31            
Class A common stock | Market Condition Options | Executive Awards | 2024 Grants                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share price (in usd per share) | $ / shares   $ 3.54            
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)     2,355,024   2,355,024      
Issuance of Class A common stock in connection with employee stock purchase plan (in shares)         117,399      
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)     3,075,477   3,075,477