Equity Incentive Plans and Stock-Based Compensation - 2020 Employee Stock Purchase Plan - Schedule of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for 2020 Employee Stock Purchase Plan (Details) - 2020 Employee Stock Purchase Plan	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate, minimum	5.20%	0.60%
Risk-free interest rate, maximum	5.47%	3.34%
Expected term of options (in years)	6 months	6 months
Expected volatility, minimum	54.78%	63.17%
Expected volatility, maximum	69.15%	82.02%
Expected dividend	0.00%	0.00%