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Net Loss Per Share - Earnings Per Share Basic and Diluted (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Denominator      
Weighted-average common shares outstanding - basic (in shares) 51,126,510 48,448,166 46,302,656
Weighted-average common shares outstanding - diluted (in shares) 51,126,510 48,448,166 46,302,656
Basic net loss per share (in dollars per share) $ (0.74) $ (1.00) $ (1.03)
Diluted net loss per share (in dollars per share) $ (0.74) $ (1.00) $ (1.03)
Class A Common Stock      
Numerator      
Net loss $ (32,724) $ (39,966) $ (38,135)
Denominator      
Weighted-average common shares outstanding - basic (in shares) 44,343,177 40,007,839 37,190,224
Weighted-average common shares outstanding - diluted (in shares) 44,343,177 40,007,839 37,190,224
Basic net loss per share (in dollars per share) $ (0.74) $ (1.00) $ (1.03)
Diluted net loss per share (in dollars per share) $ (0.74) $ (1.00) $ (1.03)
Class B Common Stock      
Numerator      
Net loss $ (5,006) $ (8,432) $ (9,344)
Denominator      
Weighted-average common shares outstanding - basic (in shares) 6,783,333 8,440,327 9,112,432
Weighted-average common shares outstanding - diluted (in shares) 6,783,333 8,440,327 9,112,432
Basic net loss per share (in dollars per share) $ (0.74) $ (1.00) $ (1.03)
Diluted net loss per share (in dollars per share) $ (0.74) $ (1.00) $ (1.03)