Equity Incentive Plans and Stock-Based Compensation - 2020 Employee Stock Purchase Plan - Narrative (Details) - USD ($) $ in Thousands	1 Months Ended	3 Months Ended		9 Months Ended
	Jun. 30, 2020	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023	Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total shares reserved for future issuance (in shares)		15,211,747		15,211,747		12,544,982
Total stock-based compensation expense		$ 8,899	$ 10,363	$ 29,209	$ 35,331
2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Employee stock purchase plan, description	The 2020 ESPP provides that the number of shares reserved and available for issuance will automatically increase on January 1 of each calendar year, beginning January 1, 2021, by the least of (1) 1.0% of the total number of shares of common stock outstanding on December 31 of the preceding calendar year, (2) 700,000 shares or (3) such lesser amount as determined by the administrator of the 2020 ESPP, which is the compensation committee of the board of directors of the Company.
Common stock shares outstanding percentage	1.00%
Total shares reserved for future issuance (in shares)	700,000	1,294,745		1,294,745
Percentage of payroll deductions	15.00%
Employee stock purchase plan offering period	6 months
Common stock fair market value percentage	85.00%
Total stock-based compensation expense		$ 100	$ 100	$ 400	$ 400
Number of common stock issued (in shares)		41,340		110,222