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Stockholders' Equity (Deficit) - Narrative (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Nov. 05, 2021
shares
Apr. 12, 2021
USD ($)
shares
Feb. 25, 2021
shares
Oct. 15, 2020
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
class
$ / shares
shares
Apr. 13, 2021
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Common stock, shares authorized (in shares)         500,000,000 500,000,000    
Number of shares authorized for repurchase (in shares)           200,000 200,000  
Repurchase of common stock | $         $ 0 $ 3,497 $ 3,207  
Shares repurchased, price (in dollars per share) | $ / shares       $ 15.74        
Repurchase of common stock, percentage of employee holdings       20.00%        
Shares repurchased during period (in shares)       1,100,000        
Treasury stock acquired | $       $ 17,400        
Non-recurring payment for excess of repurchase price over fair value | $       $ 6,100        
Number of classes of stock | class             7  
Preferred stock converted into common stock (in shares)   72,225,916            
Payment of accumulated dividends | $   $ 5,000            
Number of shares converted from warrants (in shares)   212,408            
Proceeds from exercise of warrants | $         $ 0 $ 645 $ 0  
Discount on share repurchase (as a percent)     15.00%          
Reserve for future issuance (as a percent)     2.00%          
Reserve for future issuance, evergreen provision (as a percent)     1.00%          
Shares reserved for future issuance (in shares)     2,259,571          
Shares issuable, percent of shares outstanding (as a percent)     11.00%          
Shares issuable, percent of shares outstanding on last day of prior fiscal year (as a percent)     5.00%          
Number of shares authorized for grant (in shares)     10,018,849          
Granted (in shares)         0 2,811,098 2,176,157  
Fair value of stock options vested during period | $         $ 15,800 $ 6,400 $ 2,000  
Shares exercisable, not yet vested (in shares)         300,000 700,000 1,000,000  
Shares exercisable, not yet vested, weighted average exercise price (in dollars per share) | $ / shares         $ 2.46 $ 3.37 $ 1.34  
Additional stock-based compensation expense | $         $ 8,200 $ 1,900    
Number of shares issued under employee stock purchase plan (in shares)         446,219      
Common stock issued under Employee Stock Purchase Plan (ESPP) (in shares)         323,905      
Stock based compensation capitalized | $         $ 600      
IPO                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Common stock, shares authorized (in shares)               500,000,000
Redeemable convertible preferred stock, authorized (in shares)               10,000,000
ESPP                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Shares reserved for future issuance (in shares)     2,705,790          
Number of shares authorized for grant (in shares)     16,629,578          
Stock options                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Expected term           5 years 6 months 5 years 10 months 24 days  
Volatility (as a percent)           36.30% 34.80%  
Risk-free interest rate (as a percent)           0.67% 0.97%  
Expected dividend yield (as a percent)           0.00% 0.00%  
Unrecognized stock-based compensation expense | $         $ 7,800      
Unrecognized stock-based compensation expense, period of recognition         2 years      
Accelerated vesting, number of shares (in shares) 438,783              
RSUs                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unrecognized stock-based compensation expense | $         $ 91,000      
Unrecognized stock-based compensation expense, period of recognition         3 years 2 months 12 days      
Accelerated vesting, number of shares (in shares) 50,000              
Fair value of restricted stock units vested | $         $ 23,300      
RSUs | Minimum                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Service condition period         3 years      
RSUs | Maximum                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Service condition period         4 years