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Redeemable Convertible Preferred Stock - Additional Information (Details) - USD ($) | 12 Months Ended |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Jul. 31, 2021 | Jul. 01, 2021 | Jun. 30, 2021 | Dec. 31, 2020 | Jun. 18, 2020 | Jun. 17, 2020
Temporary Equity [Line Items] |  |  |  |  |  |  |  |
Temporary equity, shares issued |  | 37,107,459 |  |  |  |  |  |
Temporary equity, shares authorized |  | 37,710,624 |  |  |  |  |  |
Additional common stock issued to holders of redeemable convertible preferred stock |  | 39,474,330 |  |  |  |  |  |
Cash dividend declared or paid |  | $ 0 |  |  |  |  |  |
Temporary equity, shares outstanding | 0 | 37,107,459 |  |  |  |  |  |
Minimum |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |
Proceeds from underwritten public offering net of underwriting discount and commissions | $ 75,000,000.0 |  |  |  |  |  |  |
Series A Redeemable Convertible Preferred Share |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |
Temporary equity, shares issued | 0 | 6,289,609 |  |  |  |  |  |
Temporary equity, shares authorized | 0 | 6,289,609 |  |  |  |  |  |
Additional common stock issued to holders of redeemable convertible preferred stock |  | 6,407,256 |  |  |  |  |  |
Non-cumulative Dividends per share entitled to receive | $ 0.073744 |  |  |  |  |  |  |
Temporary equity, shares outstanding | 0 | 6,289,609 |  |  |  | 6,289,609 |  |
Series B Redeemable Convertible Preferred Shares |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |
Temporary equity, shares issued | 0 | 14,496,835 |  |  |  |  |  |
Temporary equity, shares authorized | 0 | 15,100,000 |  |  |  |  |  |
Additional common stock issued to holders of redeemable convertible preferred stock |  | 16,746,059 |  |  |  |  |  |
Percentage of non-cumulative dividends entitled to receive | 6.00% |  |  |  |  |  |  |
Temporary equity, shares outstanding | 0 | 14,496,835 |  |  |  | 14,496,835 |  |
Series C-1 Redeemable Convertible Preferred Shares |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |
Temporary equity, shares issued | 0 | 13,150,430 |  | 13,150,430 |  |  |  |
Temporary equity issue price per share | $ 10.265809 |  |  |  |  |  |  |
Temporary equity, shares authorized | 0 | 13,150,430 |  | 13,150,430 |  |  |  |
Additional common stock issued to holders of redeemable convertible preferred stock |  | 13,150,430 |  |  |  |  |  |
Temporary equity, shares outstanding | 0 | 13,150,430 |  |  |  |  |  |
Series C-2 Redeemable Convertible Preferred Shares |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |
Temporary equity, shares issued | 0 | 3,170,585 |  |  |  |  |  |
Temporary equity issue price per share | $ 8.725938 |  |  |  |  |  |  |
Temporary equity, shares authorized | 0 | 3,170,585 |  | 3,170,585 |  |  |  |
Additional common stock issued to holders of redeemable convertible preferred stock |  | 3,170,585 |  |  |  |  |  |
Temporary equity, shares outstanding | 0 | 3,170,585 |  |  |  |  |  |
2021 Notes | Series C-2 Redeemable Convertible Preferred Shares |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |
Temporary equity, shares issued |  |  | 3,170,585 |  |  |  |  |
Notes including accrued interest |  |  | $ 27,700,000 |  |  |  |  |
2017 Notes | Series A Redeemable Convertible Preferred Share |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |
Preferred stock conversion price per share |  |  |  |  |  |  | $ 1.2065 | $ 1.229073
Additional common stock issued to holders of redeemable convertible preferred stock |  |  |  |  |  |  | 117,650 |
2017 Notes | Series B Redeemable Convertible Preferred Shares |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |
Preferred stock conversion price per share |  |  | $ 14.6942 |  | $ 16.974077 |  |  |
Additional common stock issued to holders of redeemable convertible preferred stock |  |  | 2,249,224 |  |  |  |  |

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- Definition The maximum number of securities classified as temporary equity that are permitted to be issued by an entity's charter and bylaws. Temporary equity is a security with redemption features that are outside the control of the issuer, is not classified as an asset or liability in conformity with GAAP, and is not mandatorily redeemable. Includes any type of security that is redeemable at a fixed or determinable price or on a fixed or determinable date or dates, is redeemable at the option of the holder, or has conditions for redemption which are not solely within the control of the issuer. If convertible, the issuer does not control the actions or events necessary to issue the maximum number of shares that could be required to be delivered under the conversion option if the holder exercises the option to convert the stock to another class of equity. If the security is a warrant or a rights issue, the warrant or rights issue is considered to be temporary equity if the issuer cannot demonstrate that it would be able to deliver upon the exercise of the option by the holder in all cases. Includes stock with put option held by ESOP and stock redeemable by holder only in the event of a change in control of the issuer. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(27)(b)) -URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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