Stockholders' Equity - 2020 Employee Stock Purchase Plan (Details) - USD ($) $ in Millions	1 Months Ended		12 Months Ended
	Jan. 31, 2022	Jan. 31, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based payments arrangement, nonvested award, option, cost not yet recognized, amount			$ 2.0
Common Class A
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock issued during period, shares, employee stock purchase plans (in shares)			594,885	393,528	0
Common stock issuable under the ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Automatic percentage increase of authorized shares	1.00%
Employee payroll deductions			$ 0.5
Share-based payment arrangement, nonvested award, cost not yet recognized, period for recognition			1 year 5 months 4 days
Common stock issuable under the ESPP | Common Class A
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, capital shares reserved for future issuance (in shares)		4,000,000	6,047,919	6,047,919
Number of shares benchmark (in shares)	12,000,000
Number of shares available for grant (in shares)			5,059,506	5,654,391
Purchase price of common stock, percent		85.00%	85.00%
Common stock issuable under the ESPP | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Offering period		27 months