v3.24.1.u1
Equity Incentive Plans and Stock-Based Compensation - Schedule of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details) - Incentive Stock Options and Nonqualified Stock Options - 2015 Equity and 2020 Incentive Plan - $ / shares
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected volatility, minimum 85.28% 80.97%
Expected volatility, maximum 86.42% 81.41%
Risk-free interest rate, minimum 4.04% 3.42%
Risk-free interest rate, maximum 4.28% 4.18%
Expected dividend 0.00% 0.00%
Minimum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term (in years) 5 years 11 months 26 days 5 years 9 months 7 days
Underlying common stock fair value (USD per share) $ 15.19 $ 21.94
Maximum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term (in years) 6 years 21 days 6 years 29 days
Underlying common stock fair value (USD per share) $ 17.44 $ 34.65