Equity Incentive Plans and Stock-Based Compensation - Incentive Stock Options and Nonqualified Stock Options - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions	1 Months Ended	3 Months Ended
	May 31, 2020	Mar. 31, 2023
Incentive Stock Options and Nonqualified Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost		$ 52.7
Unrecognized compensation expense, weighted average period		3 years 1 month 20 days
Grant date fair value of stock option (in shares)		$ 23.36
2015 Equity and 2020 Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		4 years
Expiration period from date of grant		10 years
2015 Equity and 2020 Incentive Plan | Incentive Stock Options and Nonqualified Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options granted (in shares)		1,278,984
Shares of common stock available for future grants under the 2020 Stock Option and Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expiration period from date of grant	5 years
Shares of common stock available for future grants under the 2020 Stock Option and Incentive Plan | Incentive Stock Options and Nonqualified Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options granted (in shares)		1,278,984