Stockholders' Equity - 2017 Stock Plan and 2020 Equity Incentive Plan (Details) - shares		1 Months Ended
	Jan. 01, 2023	Jan. 31, 2021	Dec. 31, 2023	Dec. 31, 2022
2020 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, capital shares reserved for future issuance (in shares)		21,000,000	43,612,952	33,101,677
Percentage increase in authorized shares of common stock		5.00%
Number of shares available for grant (in shares)			12,577,863	10,963,031
Class A common stock automatically added to the reserve (in shares)	10,421,465
Stock Plan, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of additional shares authorized (in shares)		19,000,000
Number of shares available for grant (in shares)			0
Number of authorized shares transferred between plans (in shares)		89,810