Stock-based Compensation - Additional Information (Details)				1 Months Ended	3 Months Ended		9 Months Ended		12 Months Ended
	Sep. 30, 2024 USD ($) shares	Jan. 01, 2024 shares	Jul. 02, 2020 shares	Jul. 31, 2015 employee shares	Sep. 30, 2024 USD ($) shares	Sep. 30, 2023 USD ($)	Sep. 30, 2024 USD ($) $ / shares shares	Sep. 30, 2023 USD ($)	Dec. 31, 2022 $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense | $					$ 16,900,000	$ 15,400,000	$ 47,200,000	$ 45,600,000
Omnibus Agreement
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period									5 years
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized expense, stock options | $	$ 43,700,000				43,700,000		$ 43,700,000
Unrecognized expense, period for recognition							1 year
Stock-based compensation expense | $					7,700,000	9,100,000	$ 22,500,000	29,400,000
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized expense, RSUs | $	$ 71,300,000				71,300,000		$ 71,300,000
Unrecognized expense, period for recognition							1 year 4 months 24 days
Grand date fair value (in dollars per share) | $ / shares							$ 16.66
Stock-based compensation expense | $					7,200,000	5,400,000	$ 20,200,000	14,700,000
Warrant shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense | $					$ 2,000,000.0	$ 900,000	$ 4,500,000	$ 1,500,000
Warrant shares | Omnibus Agreement
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period							5 years		5 years
Warrant, number of shares issuable, common stock (in shares)									3,352,025
Grand date fair value (in dollars per share) | $ / shares									$ 20.37
Number of warrant shares vested (in shares)	181,191				181,191		181,191
Unrecognized expense | $	$ 61,300,000				$ 61,300,000		$ 61,300,000
2020 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for issuance (in shares)			5,503,678
Common stock reserved for issuance, annual increase, percentage of outstanding shares		5.00%	5.00%
Maximum shares that may be issued upon exercise of incentive stock options (in shares)			3,650,000
Additional shares authorized (in shares)		3,508,185
Common stock available for grant (in shares)	5,005,622				5,005,622		5,005,622
2020 ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for issuance (in shares)			1,000,000
Common stock reserved for issuance, annual increase, percentage of outstanding shares			1.00%
Number of shares available for issuance, annual increase (in shares)			1,000,000
Annual increase in shares reserved for issuance (in shares)		0
Share based compensation arrangement by share based payment award, shares issued in period (in shares)	0
2015 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for issuance (in shares)				7,312,590
Number of shares of common stock per exercised option (in shares) | employee				1
2015 Plan | Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period				4 years
Expiration period				10 years
Incentive Stock Plan 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation equity awards granted (in shares)							404,207