Equity Incentive Plans - Narrative (Details) $ / shares in Units, $ in Thousands	1 Months Ended		3 Months Ended		9 Months Ended
	Feb. 28, 2023 USD ($) $ / shares shares	Feb. 28, 2022 USD ($) planParticipant shares	Sep. 30, 2023 USD ($) shares	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($) shares	Sep. 30, 2022 USD ($)	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	$ 8,334	$ 9,073	$ 26,810	$ 25,513
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 | $			700		$ 2,100
Unrecognized incremental stock-based compensation | $			$ 3,100		$ 3,100
Recognition period (in years)					1 year 9 months 21 days
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
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, Expected Dividend Rate
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Market risk benefit, measurement input	0.000
Restricted Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unvested restricted stock (in shares)			36,581		36,581		60,787
2020 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized incremental stock-based compensation | $			$ 1,200		$ 1,200
Unexercised stock options (in usd per share) | $ / shares								$ 19.00
Employee benefits and share-based compensation | $			$ 200		$ 500
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		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		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)			4,244,147		4,244,147
Class A common stock | 2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Issuance of common stock in connection with employee stock purchase plan (in shares)					68,495