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Equity Incentive Plans - Narrative (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Feb. 28, 2022
USD ($)
planParticipant
shares
Mar. 31, 2023
USD ($)
$ / shares
shares
Mar. 31, 2022
USD ($)
shares
Dec. 31, 2022
shares
Jun. 21, 2022
$ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share price (in usd per share) | $ / shares         $ 7.40
Total stock-based compensation | $ $ 900 $ 8,724 $ 8,062    
Recognition period (in years) 8 years 3 years      
Number of grantees affected by modification | planParticipant 1        
Modifications to extend term and timing of vesting, of shares (in shares) 1,330,892        
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 | $   $ 5,200      
Total stock-based compensation | $   500      
Unrecognized incremental stock-based compensation | $   $ 4,800      
Recognition period (in years)   2 years 29 days      
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   0.0394      
Market Condition Options | Measurement Input, Option Volatility          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Market Risk Benefit, Measurement Input   0.831      
Market Condition Options | Measurement Input, Share Price | Minimum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Market Risk Benefit, Measurement Input | $ / shares   2.80      
Market Condition Options | Measurement Input, Share Price | Maximum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Market Risk Benefit, Measurement Input | $ / shares   3.02      
Restricted Stock          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unvested restricted stock (in shares)   65,251   60,787  
2020 Equity Incentive Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unrecognized incremental stock-based compensation | $   $ 1,600      
Unexercised stock options (in usd per share) | $ / shares         $ 19.00
Employee benefits and share-based compensation | $   $ 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)   1,829,437      
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   $ 6.885      
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 | 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)   4,581,459      
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)     0