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Equity Incentive Plans and Stock-Based Compensation - Summary of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details) - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected dividend 0.00% 0.00%    
2015 Equity and 2020 Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected volatility, minimum     80.97% 73.78%
Expected volatility, maximum     81.66% 75.17%
Risk-free interest rate, minimum     3.42% 1.64%
Risk-free interest rate, maximum     4.18% 3.39%
Expected dividend     0.00% 0.00%
2015 Equity and 2020 Incentive Plan | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected term (in years)     5 years 3 months 21 days 5 years 3 months 29 days
Underlying common stock fair value (USD per share)     $ 21.94 $ 4.92
2015 Equity and 2020 Incentive Plan | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected term (in years)     6 years 29 days 6 years 29 days
Underlying common stock fair value (USD per share)     $ 34.65 $ 12.68
Incentive Stock Options and Nonqualified Stock Options | 2015 Equity and 2020 Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected volatility, minimum 81.16% 73.78%    
Expected volatility, maximum 81.66% 75.17%    
Risk-free interest rate, minimum 3.44% 1.64%    
Risk-free interest rate, maximum 3.88% 3.39%    
Incentive Stock Options and Nonqualified Stock Options | 2015 Equity and 2020 Incentive Plan | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected term (in years) 5 years 3 months 21 days 5 years 3 months 29 days    
Underlying common stock fair value (USD per share) $ 22.33 $ 4.92    
Incentive Stock Options and Nonqualified Stock Options | 2015 Equity and 2020 Incentive Plan | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected term (in years) 6 years 25 days 6 years 29 days    
Underlying common stock fair value (USD per share) $ 26.50 $ 12.68