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Stock Incentive Plan and Stock-based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	12 Months Ended
	Apr. 30, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock Incentive Plan and Stock-based Compensation
Stock options contractual term		10 years
Unrecognized stock-based compensation expense		$ 69,594
Weighted average period		2 years 3 months 18 days
Restricted Stock Units
Stock Incentive Plan and Stock-based Compensation
Weighted average per share fair value of awards issued (in USD per share)		$ 31.78
2020 Plan
Stock Incentive Plan and Stock-based Compensation
Stock options contractual term		10 years
Percentage of increment of common stock outstanding		4.00%
Total number of shares available for issuance		6,691,219
2017 and 2020 Plans \| Restricted Stock Units
Stock Incentive Plan and Stock-based Compensation
Weighted average per share fair value of awards issued (in USD per share)		$ 20.64	$ 18.88	$ 12.82
2017 and 2020 Plans \| Common Stock
Stock Incentive Plan and Stock-based Compensation
Stock vested		3,298,284	1,818,045
Employee Stock Purchase Plan
Stock Incentive Plan and Stock-based Compensation
Percentage of increment of common stock outstanding	1.00%
ESPP permits eligible employees to purchase shares of common stock at discount	15.00%
Total number of shares available for issuance	629,805
Shares issued under the ESPP		21,313	21,943	11,010
Amount of discount on ESSP		$ 393	$ 363	$ 173