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Stock Incentive Plan and Stock-based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Apr. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Unrecognized stock-based compensation expense   $ 83,981   $ 83,981    
Weighted average period       3 years 1 month 6 days    
Restricted Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Weighted average per share fair value of awards issued (in USD per share)       $ 17.60   $ 12.82
2020 Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock options contractual term       10 years    
Percentage of increment of common stock outstanding       4.00%    
Total number of shares available for issuance   4,932,502   4,932,502    
2017 and 2020 Plans | Common Stock            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock vested       1,753,234   1,285,432
Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of increment of common stock outstanding 1.00%          
ESPP permits eligible employees to purchase shares of common stock at discount 15.00%          
Total number of shares available for issuance 629,805          
Shares issued under the ESPP   14,889 0 14,889 0  
Amount of discount on ESSP   $ 86 $ 60 $ 271 $ 80