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Stock-based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jul. 15, 2020
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Jan. 01, 2024
Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting percentage upon sale       25.00%      
Stock options vesting period       36 months      
Weighted-average estimated fair value of options awarded (in dollars per share)       $ 8.7 $ 12.61    
Stock-based compensation expense   $ 8,062 $ 6,964 $ 15,325 $ 12,771    
Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share based compensation, stock options expiry period       10 years      
Minimum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share based compensation, stock options expiry period       7 years      
2020 ESPP              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Common stock reserved for future issuance   580,443   580,443      
Percentage of outstanding shares increase in shares reserved for issuance 1.00%            
Percentage of purchase price to fair market value       85.00%      
Estimated weighted-average fair value of issued shares   $ 6.45   $ 6.45      
Maximum increase in common stock shares reserved for issuance 634,969            
Stock Issued under Employee Stock Purchase Plans   32,199   32,199      
Non Vested Stock Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Unrecognized compensation costs for non-vested stock awards   $ 47,100   $ 47,100      
Recognition period for compensation cost not yet recognized (in years, months, and days)       2 years 6 months      
Employee Stock Option              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Stock-based compensation expense   7,200 6,700 $ 13,600 12,300    
Restricted Stock Units              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Unrecognized compensation costs for non-vested stock awards   6,700   $ 6,700      
Recognition period for compensation cost not yet recognized (in years, months, and days)       2 years 1 month 6 days      
Stock-based compensation expense   800 200 $ 1,600 400    
ESPP              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Stock-based compensation expense   $ 100 $ 100 $ 100 $ 100    
2019 Stock Option And Grant Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of options authorized   3,464,316   3,464,316      
Stock options issued during period       0      
Amendment to 2019 Stock Option and Grant Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting percentage upon sale 100.00%            
2020 Stock Option and Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Cumulative increase in common stock reserve for issuance, percentage 5.00%            
Common stock reserved for future issuance             9,115,915
Cumulative increase in common stock reserve for issuance   11,627,288   11,627,288   1,791,904