Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity Under the 2015 Plan and 2020 Plan (Details) - Incentive Stock Options and Nonqualified Stock Options - 2015 Equity and 2020 Incentive Plan - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Number of Options, Outstanding, Beginning balance (in shares)	5,569,567
Number of Options, Granted (in shares)	1,278,984
Number of Options, Exercised (in shares)	(411,018)
Number of Options, Forfeited (in shares)	(56,942)
Number of Options, Outstanding, Ending balance (in shares)	6,380,591	5,569,567
Number of Options, Exercisable (in shares)	2,441,738
Number of Options, Vested and expected to vest (in shares)	6,380,591
Share-Based Compensation Arrangement By Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]
Weighted- Average Exercise Price per Share, Outstanding, Beginning balance (USD per share)	$ 13.34
Weighted- Average Exercise Price per Share, Granted (USD per share)	32.71
Weighted- Average Exercise Price per Share, Exercised (USD per share)	7.09
Weighted- Average Exercise Price per Share, Forfeited (USD per share)	12.87
Weighted- Average Exercise Price per Share, Outstanding, Ending balance (USD per share)	17.63	$ 13.34
Weighted- Average Exercise Price per Share, Exercisable (USD per share)	13.49
Weighted- Average Exercise Price per Share, Vested and expected to vest (USD per share)	$ 17.63
Weighted- Average Remaining Contractual Term (in Years), Outstanding	8 years 3 months 29 days	7 years 11 months 15 days
Weighted- Average Remaining Contractual Term (in Years), Exercisable	7 years 3 months 25 days
Weighted- Average Remaining Contractual Term (in Years), Vested and expected to vest	8 years 3 months 29 days
Aggregate Intrinsic Value, Outstanding balance	$ 66,628	$ 43,696
Aggregate Intrinsic Value, Exercisable	32,909
Aggregate Intrinsic Value, Vested and expected to vest	$ 66,628