Stock-Based Compensation - Summary of Option Activity Under the Plan (Details) - 2020 Plan and 2014 Plan $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares underlying options, Beginning balance | shares	8,164,375
Number of Shares underlying options, Options granted | shares	2,897,970
Number of Shares underlying options, Options exercised | shares	(164,665)
Number of Shares underlying options, Options cancelled | shares	(108,382)
Number of Shares underlying options, Ending balance | shares	10,789,298	8,164,375
Number of Shares underlying options, Options vested and expected to vest | shares	10,789,298
Number of Shares underlying options, Options vested and exercisable | shares	5,456,406
Weighted-average exercise price, Beginning balance | $ / shares	$ 16.09
Weighted-average exercise price, Options granted | $ / shares	25.87
Weighted-average exercise price, Options exercised | $ / shares	5.88
Weighted-average exercise price, Options cancelled | $ / shares	27.66
Weighted-average exercise price, Ending balance | $ / shares	18.76	$ 16.09
Weighted-average exercise price, Options vested and expected to vest | $ / shares	18.76
Weighted-average exercise price, Options vested and exercisable | $ / shares	$ 13.03
Weighted-average remaining contractual term (in years)	7 years 9 months 14 days	7 years 6 months 10 days
Weighted-average remaining contractual term, Options vested and expected to vest	7 years 9 months 14 days
Weighted-average remaining contractual term, Options vested and exercisable	6 years 6 months 10 days
Aggregate intrinsic value | $	$ 103,139	$ 85,181
Aggregate intrinsic value, Options vested and expected to vest | $	103,139
Aggregate intrinsic value, Options vested and exercisable | $	$ 84,866