Bill Gurley argues this point as well. From memory he's passionately against IPOs. Here's the episode if anyone is interested:
https://podcasts.apple.com/us/podcast/bill-gurley-direct-listing-vs-ipo-invest-like-the-best-ep-144/id1154105909?i=1000451016956
If you sold your house for $1M (IPOd your company) and 2 weeks later someone sold it for $2M (your company was trading for twice as much) you'd have left money on the table and wouldn't be happy. Investment bankers should be trying to find a balance between a high enough IPO price without being so high no one is interested and one that isn't too low. However, at the end of the day the bankers get paid regardless.