Equity Incentive Plans and Stock-Based Compensation - 2020 Employee Stock Purchase Plan - Schedule of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for 2020 Employee Stock Purchase Plan (Details) - 2020 Employee Stock Purchase Plan	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate, minimum	4.80%	5.20%	4.80%	5.20%
Risk-free interest rate, maximum	5.27%	5.47%	5.27%	5.47%
Expected term of options (in years)	6 months	6 months	6 months	6 months
Expected stock price volatility, minimum	50.95%	54.78%	50.95%	54.78%
Expected stock price volatility, maximum	63.92%	69.15%	63.92%	69.15%
Expected dividends	0.00%	0.00%	0.00%	0.00%