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Stock Incentive Plan and Stock-based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock Incentive Plan and Stock-based Compensation      
Stock options contractual term 10 years    
Unrecognized stock-based compensation expense $ 83,558    
Weighted average period 2 years 10 months 24 days    
Restricted Stock Units      
Stock Incentive Plan and Stock-based Compensation      
Weighted average per share fair value of awards issued (in USD per share) $ 18.88 $ 12.82 $ 10.06
2020 Plan      
Stock Incentive Plan and Stock-based Compensation      
Stock options contractual term 10 years    
Percentage of increment of common stock outstanding 4.00%    
Total number of shares available for issuance 4,746,884    
2017 and 2020 Plans | Common Stock      
Stock Incentive Plan and Stock-based Compensation      
Stock vested 1,818,045 1,285,432  
Employee Stock Purchase Plan      
Stock Incentive Plan and Stock-based Compensation      
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 21,943 11,010  
Amount of discount on ESSP $ 363 $ 173