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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Oct. 31, 2020
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Weighted-average grant-date fair value, options granted (in dollars per share)       $ 5.52    
Stock options, unrecognized cost   $ 40,400   $ 40,400   $ 49,900
Current liabilities related to shares that were subject to repurchase   1,056   1,056   1,364
Current portion of other liabilities            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Current liabilities related to shares that were subject to repurchase   1,100   1,100   1,400
Other noncurrent liabilities            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Non-current liabilities related to shares that were subject to repurchase   $ 400   $ 400   $ 1,100
2020 Equity Incentive Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Expiration period 10 years          
Shares that may be issued, percent increase as total of common stock outstanding 5.00%          
Number of shares that may have been issued (in shares)   17,568,821   17,568,821    
Options, exercise price, percent of fair market value 100.00%          
Vesting period 4 years          
Number of shares reserved for future issuance (in shares)   4,046,541   4,046,541    
Stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock options recognized, weighted average period       2 years 5 months 23 days   2 years 11 months 4 days
Expected shares to be purchased under Employee Stock Purchase Plan | The ESPP            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of shares that may have been issued (in shares) 688,000          
Number of shares reserved for future issuance (in shares)   1,705,871   1,705,871    
Number of shares that may be issued, increase percentage 1.00%          
Number of shares that may be issued, increase (in shares) 1,376,000          
Employee stock purchase plan (in shares)   0 0 12,539 50,569  
Restricted Stock Units (RSUs)            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock options recognized, weighted average period       1 year 6 months 7 days    
Unrecognized stock based compensation   $ 18,700   $ 18,700    
Restricted Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock options recognized, weighted average period       1 year 9 months 29 days    
Unrecognized stock based compensation   $ 300   $ 300