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Stockholders' Equity (Deficit) - Summary of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of shares      
Options outstanding, beginning balance (in shares) 8,148,853 11,603,131  
Granted (in shares) 0 2,811,098 2,176,157
Exercised stock options (in shares) (1,135,346) (5,801,124)  
Forfeited (in shares) (745,022) (464,252)  
Options outstanding, ending balance (in shares) 6,268,485 8,148,853 11,603,131
Exercisable at December 31, 2021 (in shares) 4,777,675    
Weighted average exercise price      
Options outstanding, beginning balance (in dollars per share) $ 7.14 $ 2.14  
Granted (in dollars per share) 16.38  
Exercised (in dollars per share) 2.11 1.57  
Forfeited (in dollars per share) 10.91 7.59  
Options outstanding, ending balance (in dollars per share) 7.61 $ 7.14 $ 2.14
Exercisable at December 31, 2021 (in dollars per share) $ 6.02    
Weighted Average Remaining Contractual Life      
Outstanding 5 years 10 months 24 days 7 years 4 months 24 days 7 years 2 months 12 days
Exercisable 5 years 3 months 18 days    
Aggregate Intrinsic Value      
Outstanding $ 48,141 $ 105,260 $ 154,581
Exercised 14,169 (107,259)  
Forfeited 3,176 $ (5,787)  
Exercisable $ 43,051