Equity Incentive Plans and Stock-Based Compensation - Schedule 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	9 Months Ended	12 Months Ended
	Sep. 30, 2024	Dec. 31, 2023
Number of Options
Outstanding, beginning balance (in shares)	6,953,487
Granted (in shares)	2,367,019
Exercised (in shares)	(237,008)
Forfeited (in shares)	(828,177)
Outstanding, ending balance (in shares)	8,255,321	6,953,487
Number of options, exercisable (in shares)	4,328,248
Number of options, vested and expected to vest (in shares)	8,255,321
Weighted- Average Exercise Price per Share
Outstanding, beginning balance (USD per share)	$ 17.95
Granted (USD per share)	15.12
Exercised (USD per share)	7.21
Forfeited (USD per share)	18.60
Outstanding, ending balance (USD per share)	17.38	$ 17.95
Weighted- average exercise price per share, exercisable (USD per share)	16.93
Weighted- average exercise price per share, vested and expected to vest (USD per share)	$ 17.38
Weighted- Average Remaining Contractual Term (in Years)
Weighted- average remaining contractual term (in years), outstanding	7 years 8 months 4 days	7 years 8 months 12 days
Weighted- average remaining contractual term (in years), exercisable	6 years 7 months 17 days
Weighted- average remaining contractual term (in years), vested and expected to vest	7 years 8 months 4 days
Aggregate intrinsic value, outstanding balance	$ 8,356	$ 32,646
Aggregate intrinsic value, exercisable	7,901
Aggregate intrinsic value, vested and expected to vest	$ 8,356