Stock-Based Compensation - Summary of RSUs Activity Under the Plan (Details) - 2020 Equity Incentive Plan - Restricted Stock Units (RSUs) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Beginning balance	1,175,032
Number of Shares, RSUs granted	1,639,472
Number of Shares, RSUs vested	(576,974)
Number of Shares, RSUs forfeited	(76,263)
Number of Shares, Ending balance	2,161,267	1,175,032
Number of Shares, Expected to vest	2,161,267
Weighted-average grant date fair value per share, Beginning balance	$ 23.25
Weighted-average grant date fair value per share, RSUs granted	26.3
Weighted-average grant date fair value per share, RSUs vested	24.84
Weighted-average grant date fair value per share, RSUs forfeited	24.15
Weighted-average grant date fair value per share, Ending balance	25.1	$ 23.25
Weighted-average grant date fair value per share, Expected to vest	$ 25.1
Weighted-average remaining contractual term (in years)	1 year 6 months 21 days	1 year 7 months 13 days
Weighted-average remaining contractual term, Expected to vest	1 year 6 months 21 days
Aggregate intrinsic value	$ 61,985	$ 27,989
Aggregate intrinsic value, Expected to vest	$ 61,985