It is a popular misconception that a public offering is more successful if the newly-issued shares trade at much higher prices shortly after the offering. In fact such an outcome benefits the underwriters (usually large Wall Street banks) at the expense of the issuing company. In order to understand why this outcome is bad, one must understand how a public offering works: the underwriters are responsible for lining up institutional investors to subscribe to the offering, and in doing so they are able to gauge a likely offering price. Once that price is determined, the underwriters themselves guarantee the issuer that price, agreeing to purchase the issued shares themselves. Hence "underwriting". When the share price rises rapidly in initial trading, this means that the underwriters failed to gauge demand accurately and in the process obtained a large number of shares at a price much lower than they can sell them for on the open market. Those profits could and should have gone to the issuer in the form of a higher offering price; instead they end up in the underwriters' pockets.
One might imagine that this is merely an unusual outcome that compensates the underwriters for all the times they end up stuck with shares they can't sell. However, there are two factors to consider: first, that outcome is very unusual; typically the initial price is based on a conservative survey of demand for the shares, so the price is rarely set too high; second, the underwriters also keep a percentage of the total money raised for themselves regardless of where trading goes after the offering. It is this percentage that compensates the underwriters for the risk they take, just as a premium compensates an insurer.
The truth is that underpriced IPOs are a scandalous breach of fiduciary responsibility. The ideal outcome for the issuer is that the shares trade in a range around 10% below the issue price before rising slowly back to it a year or so later. That minimises the profit given up to underwriters and their institutional investor customers without encouraging them to find other ways to get their pound of flesh or discouraging them from participating in subsequent transactions, and leaves the door open to follow-on rights issues and insider share sales at favourable prices. So in fact Hashicorp's IPO was quite successful; they came pretty close to the ideal outcome. Given the limited appetite at $85 I suspect they couldn't have gotten much more than they did for the chunk of their company they sold.