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Share based compensation arrangement by share based payment award number of additional shares available for grant.

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Share based compensation arrangement by share based payment award number of duration purchase period.

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Share based compensation arrangement by share based payment award percentage of outstanding stock increased annually for future issuance.

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Share based compensation arrangement by share based payment award stock overlapping offering period.

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Aggregate number of common shares reserved for future issuance.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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- Definition

The highest percentage of annual salary that an employee is permitted to utilize with respect to the plan.

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- Definition

Number of shares authorized for issuance under share-based payment arrangement.

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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- Definition

Number of options outstanding, including both vested and non-vested options.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Purchase price of common stock expressed as a percentage of its fair value.

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Stock-based Compensation - Additional Information (Details)	9 Months Ended
	Sep. 30, 2024 Period shares	Feb. 29, 2024 shares	Dec. 31, 2023 shares	Dec. 31, 2020 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares reserved for issuance	14,611,103		9,314,262
Number of options outstanding	8,825,323		8,240,154
Expected dividend yield	0.00%
2020 Equity Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares reserved for issuance	1,546,593		524,078	2,606,546
Percentage of common stock outstanding increased annually for future issuance	5.00%
Number of shares available for grant	1,210,988	2,153,533
2020 Equity Incentive Award Plan \| Restricted Stock Units (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period	4 years
2020 Equity Incentive Award Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized	18,000,000
Options exercisable period	10 years
2015 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options exercisable period	10 years
Number of options outstanding	1,518,923
Number of additional shares available for grant	0
2020 ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares reserved for issuance	273,375		313,034	252,337
Number of shares available for grant		50,000
Increase in shares available for issuance percentage	1.00%
Employee purchase price of common stock as percentage of fair market value	85.00%
Common stock overlapping offering period	24 months
Number of duration purchase period \| Period	4
Percentage of maximum contributions of employee's eligible compensation	15.00%
2020 ESPP \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized	15,000,000