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Equity Incentive Plans - Narrative (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Feb. 28, 2022
USD ($)
planParticipant
shares
Sep. 30, 2022
USD ($)
$ / shares
shares
Sep. 30, 2021
USD ($)
Sep. 30, 2022
USD ($)
$ / shares
shares
Sep. 30, 2021
USD ($)
Jun. 21, 2022
$ / shares
Dec. 31, 2021
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of grantees affected by modification | planParticipant 1            
Modifications to extend term and timing of vesting, of shares (in shares) 1,330,892            
Total stock-based compensation | $ $ 900 $ 9,073 $ 6,786 $ 25,513 $ 19,256    
Recognition period (in years) 8 years            
Share price (in usd per share) | $ / shares   $ 7.40   $ 7.40      
Restricted Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Unvested restricted stock (in shares)   92,691   92,691     174,300
2020 Equity Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Recognition period (in years)       3 years      
Unexercised stock options (in usd per share) | $ / shares   $ 19.00   $ 19.00   $ 19.00  
Employee Benefits and Share-Based Compensation | $   $ 400   $ 700      
Unrecognized incremental stock-based compensation | $   $ 2,000   $ 2,000      
2020 Employee Stock Purchase Plan | Employee Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock reserved for future issuance (in shares)   1,195,327   1,195,327      
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)   11,400,396   11,400,396      
Class A common stock | 2020 Equity Incentive Plan | Share-based payments future awards              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock reserved for future issuance (in shares)   5,939,230   5,939,230      
Class A common stock | 2020 Employee Stock Purchase Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock issued, under ESSP, shares (in shares)       56,753